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sih: remove SYS_SIH parameter and extend SYS_HITL

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This commit is contained in:
romain
2019-04-12 09:25:07 +02:00
committed by Beat Küng
parent a9660d9da0
commit e1d9438f79
7 changed files with 45 additions and 60 deletions
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src/modules/sih/sih.cpp
+1 -1
View File
@@ -82,7 +82,7 @@ Most of the variables are declared global in the .hpp file to avoid stack overfl
)DESCR_STR");
PRINT_MODULE_USAGE_NAME("sih", "sih");
PRINT_MODULE_USAGE_NAME("sih", "simulation");
PRINT_MODULE_USAGE_COMMAND("start");
PRINT_MODULE_USAGE_PARAM_FLAG('f', "Optional example flag", true);
PRINT_MODULE_USAGE_PARAM_INT('p', 0, 0, 1024, "Optional example parameter", true);
src/modules/sih/sih.hpp
+6 -6
View File
@@ -217,11 +217,11 @@ private:
(ParamFloat<px4::params::SIH_L_PITCH>) _sih_l_pitch,
(ParamFloat<px4::params::SIH_KDV>) _sih_kdv,
(ParamFloat<px4::params::SIH_KDW>) _sih_kdw,
(ParamInt<px4::params::SIH_LAT0>) _sih_lat0,
(ParamInt<px4::params::SIH_LON0>) _sih_lon0,
(ParamFloat<px4::params::SIH_H0>) _sih_h0,
(ParamFloat<px4::params::SIH_MU_X>) _sih_mu_x,
(ParamFloat<px4::params::SIH_MU_Y>) _sih_mu_y,
(ParamFloat<px4::params::SIH_MU_Z>) _sih_mu_z
(ParamInt<px4::params::SIHG_LAT0>) _sih_lat0,
(ParamInt<px4::params::SIHG_LON0>) _sih_lon0,
(ParamFloat<px4::params::SIHG_H0>) _sih_h0,
(ParamFloat<px4::params::SIHG_MU_X>) _sih_mu_x,
(ParamFloat<px4::params::SIHG_MU_Y>) _sih_mu_y,
(ParamFloat<px4::params::SIHG_MU_Z>) _sih_mu_z
)
};
src/modules/sih/sih_params.c
+25 -25
View File
@@ -48,7 +48,7 @@
* @min 0.0
* @decimal 2
* @increment 0.1
* @group SIH
* @group Simulation In Hardware
*/
PARAM_DEFINE_FLOAT(SIH_MASS, 1.0f);
@@ -62,7 +62,7 @@ PARAM_DEFINE_FLOAT(SIH_MASS, 1.0f);
* @min 0.0
* @decimal 3
* @increment 0.005
* @group SIH
* @group Simulation In Hardware
*/
PARAM_DEFINE_FLOAT(SIH_IXX, 0.025f);
@@ -76,7 +76,7 @@ PARAM_DEFINE_FLOAT(SIH_IXX, 0.025f);
* @min 0.0
* @decimal 3
* @increment 0.005
* @group SIH
* @group Simulation In Hardware
*/
PARAM_DEFINE_FLOAT(SIH_IYY, 0.025f);
@@ -90,7 +90,7 @@ PARAM_DEFINE_FLOAT(SIH_IYY, 0.025f);
* @min 0.0
* @decimal 3
* @increment 0.005
* @group SIH
* @group Simulation In Hardware
*/
PARAM_DEFINE_FLOAT(SIH_IZZ, 0.030f);
@@ -103,7 +103,7 @@ PARAM_DEFINE_FLOAT(SIH_IZZ, 0.030f);
* @unit kg*m*m
* @decimal 3
* @increment 0.005
* @group SIH
* @group Simulation In Hardware
*/
PARAM_DEFINE_FLOAT(SIH_IXY, 0.0f);
@@ -116,7 +116,7 @@ PARAM_DEFINE_FLOAT(SIH_IXY, 0.0f);
* @unit kg*m*m
* @decimal 3
* @increment 0.005
* @group SIH
* @group Simulation In Hardware
*/
PARAM_DEFINE_FLOAT(SIH_IXZ, 0.0f);
@@ -129,7 +129,7 @@ PARAM_DEFINE_FLOAT(SIH_IXZ, 0.0f);
* @unit kg*m*m
* @decimal 3
* @increment 0.005
* @group SIH
* @group Simulation In Hardware
*/
PARAM_DEFINE_FLOAT(SIH_IYZ, 0.0f);
@@ -145,7 +145,7 @@ PARAM_DEFINE_FLOAT(SIH_IYZ, 0.0f);
* @min 0.0
* @decimal 2
* @increment 0.5
* @group SIH
* @group Simulation In Hardware
*/
PARAM_DEFINE_FLOAT(SIH_T_MAX, 5.0f);
@@ -161,7 +161,7 @@ PARAM_DEFINE_FLOAT(SIH_T_MAX, 5.0f);
* @min 0.0
* @decimal 3
* @increment 0.05
* @group SIH
* @group Simulation In Hardware
*/
PARAM_DEFINE_FLOAT(SIH_Q_MAX, 0.1f);
@@ -177,7 +177,7 @@ PARAM_DEFINE_FLOAT(SIH_Q_MAX, 0.1f);
* @min 0.0
* @decimal 2
* @increment 0.05
* @group SIH
* @group Simulation In Hardware
*/
PARAM_DEFINE_FLOAT(SIH_L_ROLL, 0.2f);
@@ -193,7 +193,7 @@ PARAM_DEFINE_FLOAT(SIH_L_ROLL, 0.2f);
* @min 0.0
* @decimal 2
* @increment 0.05
* @group SIH
* @group Simulation In Hardware
*/
PARAM_DEFINE_FLOAT(SIH_L_PITCH, 0.2f);
@@ -210,7 +210,7 @@ PARAM_DEFINE_FLOAT(SIH_L_PITCH, 0.2f);
* @min 0.0
* @decimal 2
* @increment 0.05
* @group SIH
* @group Simulation In Hardware
*/
PARAM_DEFINE_FLOAT(SIH_KDV, 1.0f);
@@ -227,7 +227,7 @@ PARAM_DEFINE_FLOAT(SIH_KDV, 1.0f);
* @min 0.0
* @decimal 3
* @increment 0.005
* @group SIH
* @group Simulation In Hardware
*/
PARAM_DEFINE_FLOAT(SIH_KDW, 0.025f);
@@ -243,9 +243,9 @@ PARAM_DEFINE_FLOAT(SIH_KDW, 0.025f);
* @unit 1e-7 deg
* @min -850000000
* @max 850000000
* @group SIH
* @group Simulation In Hardware
*/
PARAM_DEFINE_INT32(SIH_LAT0, 454671160);
PARAM_DEFINE_INT32(SIHG_LAT0, 454671160);
/**
* Initial geodetic longitude
@@ -259,9 +259,9 @@ PARAM_DEFINE_INT32(SIH_LAT0, 454671160);
* @unit 1e-7 deg
* @min -1800000000
* @max 1800000000
* @group SIH
* @group Simulation In Hardware
*/
PARAM_DEFINE_INT32(SIH_LON0, -737578370);
PARAM_DEFINE_INT32(SIHG_LON0, -737578370);
/**
* Initial AMSL ground altitude
@@ -280,9 +280,9 @@ PARAM_DEFINE_INT32(SIH_LON0, -737578370);
* @max 8848.0
* @decimal 2
* @increment 0.01
* @group SIH
* @group Simulation In Hardware
*/
PARAM_DEFINE_FLOAT(SIH_H0, 32.34f);
PARAM_DEFINE_FLOAT(SIHG_H0, 32.34f);
/**
* North magnetic field at the initial location
@@ -300,9 +300,9 @@ PARAM_DEFINE_FLOAT(SIH_H0, 32.34f);
* @max 1.0
* @decimal 2
* @increment 0.001
* @group SIH
* @group Simulation In Hardware
*/
PARAM_DEFINE_FLOAT(SIH_MU_X, 0.179f);
PARAM_DEFINE_FLOAT(SIHG_MU_X, 0.179f);
/**
* East magnetic field at the initial location
@@ -320,9 +320,9 @@ PARAM_DEFINE_FLOAT(SIH_MU_X, 0.179f);
* @max 1.0
* @decimal 2
* @increment 0.001
* @group SIH
* @group Simulation In Hardware
*/
PARAM_DEFINE_FLOAT(SIH_MU_Y, -0.045f);
PARAM_DEFINE_FLOAT(SIHG_MU_Y, -0.045f);
/**
* Down magnetic field at the initial location
@@ -340,6 +340,6 @@ PARAM_DEFINE_FLOAT(SIH_MU_Y, -0.045f);
* @max 1.0
* @decimal 2
* @increment 0.001
* @group SIH
* @group Simulation In Hardware
*/
PARAM_DEFINE_FLOAT(SIH_MU_Z, 0.504f);
PARAM_DEFINE_FLOAT(SIHG_MU_Z, 0.504f);