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https://gitee.com/mirrors_PX4/PX4-Autopilot.git
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8bf68e91e2
* still all sensors can be enabled/disabled through parameters * check airspeed simulation (sih.cpp has seperate calc.)
139 lines
3.4 KiB
C
139 lines
3.4 KiB
C
/****************************************************************************
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*
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* Copyright (c) 2025 PX4 Development Team. All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the name PX4 nor the names of its contributors may be
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* used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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/**
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* Enable simulated GPS sensor
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*
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* @group Simulation
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* @value 0 Disabled
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* @value 1 Enabled
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*/
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PARAM_DEFINE_INT32(SENS_EN_GPSSIM, 1);
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/**
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* Enable simulated barometer sensor
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*
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* @group Simulation
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* @value 0 Disabled
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* @value 1 Enabled
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*/
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PARAM_DEFINE_INT32(SENS_EN_BAROSIM, 1);
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/**
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* Enable simulated magnetometer sensor
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*
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* @group Simulation
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* @value 0 Disabled
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* @value 1 Enabled
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*/
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PARAM_DEFINE_INT32(SENS_EN_MAGSIM, 1);
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/**
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* Enable simulated airspeed sensor
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*
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* @group Simulation
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* @value 0 Disabled
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* @value 1 Enabled
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*/
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PARAM_DEFINE_INT32(SENS_EN_ARSPDSIM, 1);
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/**
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* Enable simulated AGP sensor
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*
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* @group Simulation
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* @value 0 Disabled
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* @value 1 Enabled
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*/
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PARAM_DEFINE_INT32(SENS_EN_AGPSIM, 1);
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/**
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* Number of GPS satellites used in simulation
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*
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* @group Simulator
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* @min 0
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* @max 50
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*/
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PARAM_DEFINE_INT32(SIM_GPS_USED, 10);
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/**
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* simulated barometer pressure offset
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*
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* @group Simulator
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*/
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PARAM_DEFINE_FLOAT(SIM_BARO_OFF_P, 0.0f);
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/**
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* simulated barometer temperature offset
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*
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* @group Simulator
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* @unit celcius
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*/
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PARAM_DEFINE_FLOAT(SIM_BARO_OFF_T, 0.0f);
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/**
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* simulated magnetometer X offset
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*
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* @group Simulator
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* @unit gauss
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*/
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PARAM_DEFINE_FLOAT(SIM_MAG_OFFSET_X, 0.0f);
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/**
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* simulated magnetometer Y offset
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*
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* @group Simulator
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* @unit gauss
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*/
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PARAM_DEFINE_FLOAT(SIM_MAG_OFFSET_Y, 0.0f);
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/**
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* simulated magnetometer Z offset
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*
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* @group Simulator
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* @unit gauss
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*/
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PARAM_DEFINE_FLOAT(SIM_MAG_OFFSET_Z, 0.0f);
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/**
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* AGP failure mode
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*
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* Stuck: freeze the measurement to the current location
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* Drift: add a linearly growing bias to the sensor data
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*
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* @group Simulator
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* @min 0
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* @max 3
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* @bit 0 Stuck
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* @bit 1 Drift
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*/
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PARAM_DEFINE_INT32(SIM_AGP_FAIL, 0);
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