backport some params to represent a stock SITL aircraft

Tools/autotest/models/sa_gd2000_SITL.parm

@@ -0,0 +1,164 @@
+AHRS_EKF_TYPE,10
+AHRS_TRIM_X,0
+AHRS_TRIM_Y,0
+AHRS_TRIM_Z,0
+BATT_MONITOR,0
+INS_ACC2OFFS_X,0.001
+INS_ACC2OFFS_Y,0.001
+INS_ACC2OFFS_Z,0.001
+INS_ACC2SCAL_X,1.001
+INS_ACC2SCAL_Y,1.001
+INS_ACC2SCAL_Z,1.001
+INS_ACC3_CALTEMP,-300
+INS_ACC3_ID,0
+INS_ACC3OFFS_X,0
+INS_ACC3OFFS_Y,0
+INS_ACC3OFFS_Z,0
+INS_ACC3SCAL_X,1
+INS_ACC3SCAL_Y,1
+INS_ACC3SCAL_Z,1
+INS_ACCEL_FILTER,20
+INS_ACCOFFS_X,0.001
+INS_ACCOFFS_Y,0.001
+INS_ACCOFFS_Z,0.001
+INS_ACCSCAL_X,1.001
+INS_ACCSCAL_Y,1.001
+INS_ACCSCAL_Z,1.001
+INS_ENABLE_MASK,127
+INS_FAST_SAMPLE,1
+INS_GYR_CAL,0
+INS_GYR_ID,2752772
+INS_GYR1_CALTEMP,-300
+INS_GYR2_CALTEMP,-300
+INS_GYR2_ID,2752780
+INS_GYR2OFFS_X,0
+INS_GYR2OFFS_Y,0
+INS_GYR2OFFS_Z,0
+INS_GYR3_CALTEMP,-300
+INS_GYR3_ID,0
+INS_GYR3OFFS_X,0
+INS_GYR3OFFS_Y,0
+INS_GYR3OFFS_Z,0
+INS_GYRO_FILTER,20
+INS_GYRO_RATE,0
+INS_GYROFFS_X,0
+INS_GYROFFS_Y,0
+INS_GYROFFS_Z,0
+INS_HNTC2_ENABLE,0
+INS_HNTCH_ENABLE,0
+INS_LOG_BAT_CNT,1024
+INS_LOG_BAT_LGCT,32
+INS_LOG_BAT_LGIN,20
+INS_LOG_BAT_MASK,0
+INS_LOG_BAT_OPT,0
+INS_POS1_X,0
+INS_POS1_Y,0
+INS_POS1_Z,0
+INS_POS2_X,0
+INS_POS2_Y,0
+INS_POS2_Z,0
+INS_POS3_X,0
+INS_POS3_Y,0
+INS_POS3_Z,0
+INS_RAW_LOG_OPT,0
+INS_STILL_THRESH,0.1
+INS_TCAL_OPTIONS,0
+INS_TCAL1_ENABLE,0
+INS_TCAL2_ENABLE,0
+INS_TCAL3_ENABLE,0
+INS_TRIM_OPTION,1
+INS_USE,1
+INS_USE2,1
+INS_USE3,1
+LOG_DISARMED,0
+PTCH_LIM_MAX_DEG,20
+PTCH_LIM_MIN_DEG,-20
+PTCH_RATE_D,0.007265
+PTCH_RATE_D_FF,0
+PTCH_RATE_FF,0.595723
+PTCH_RATE_FLTD,12
+PTCH_RATE_FLTE,0
+PTCH_RATE_FLTT,3
+PTCH_RATE_I,0.11
+PTCH_RATE_IMAX,0.666
+PTCH_RATE_NEF,0
+PTCH_RATE_NTF,0
+PTCH_RATE_P,0.15
+PTCH_RATE_PDMX,0
+PTCH_RATE_SMAX,150
+PTCH_TRIM_DEG,0
+PTCH2SRV_RLL,1
+PTCH2SRV_RMAX_DN,90
+PTCH2SRV_RMAX_UP,90
+PTCH2SRV_TCONST,0.25
+RLL_RATE_D,0.01743
+RLL_RATE_D_FF,0
+RLL_RATE_FF,0.237212
+RLL_RATE_FLTD,12
+RLL_RATE_FLTE,0
+RLL_RATE_FLTT,3
+RLL_RATE_I,0.25
+RLL_RATE_IMAX,0.666
+RLL_RATE_NEF,0
+RLL_RATE_NTF,0
+RLL_RATE_P,0.3
+RLL_RATE_PDMX,0
+RLL_RATE_SMAX,150
+RLL2SRV_RMAX,90
+RLL2SRV_TCONST,0.25
+SCALING_SPEED,15
+SERVO1_FUNCTION,4
+SERVO1_MAX,1900
+SERVO1_MIN,1100
+SERVO1_REVERSED,0
+SERVO1_TRIM,1500
+SERVO2_FUNCTION,19
+SERVO2_MAX,1900
+SERVO2_MIN,1100
+SERVO2_REVERSED,0
+SERVO2_TRIM,1500
+SERVO3_FUNCTION,70
+SERVO3_MAX,2000
+SERVO3_MIN,1000
+SERVO3_REVERSED,0
+SERVO3_TRIM,1000
+SERVO4_FUNCTION,21
+SERVO4_MAX,1900
+SERVO4_MIN,1100
+SERVO4_REVERSED,0
+SERVO4_TRIM,1500
+SIM_PIN_MASK,2
+SIM_SERVO_SPEED,0.15
+TECS_APPR_SMAX,0
+TECS_CLMB_MAX,5
+TECS_FLARE_HGT,1
+TECS_HDEM_TCONST,3
+TECS_HGT_OMEGA,3
+TECS_INTEG_GAIN,0.1
+TECS_LAND_ARSPD,49.17
+TECS_LAND_DAMP,0.5
+TECS_LAND_IGAIN,0
+TECS_LAND_PDAMP,0
+TECS_LAND_PMAX,20
+TECS_LAND_SINK,1
+TECS_LAND_SPDWGT,1
+TECS_LAND_SRC,0.2
+TECS_LAND_TCONST,5
+TECS_LAND_TDAMP,0
+TECS_LAND_THR,-1
+TECS_OPTIONS,1
+TECS_PITCH_MAX,-4
+TECS_PITCH_MIN,-16
+TECS_PTCH_DAMP,0
+TECS_PTCH_FF_K,0
+TECS_PTCH_FF_V0,12
+TECS_RLL2THR,10
+TECS_SINK_MAX,15
+TECS_SINK_MIN,10
+TECS_SPD_OMEGA,2
+TECS_SPDWEIGHT,1
+TECS_SYNAIRSPEED,0
+TECS_THR_DAMP,0.5
+TECS_TIME_CONST,5
+TECS_TKOFF_IGAIN,0
+TECS_VERT_ACC,7

libraries/SITL/SIM_SA_GD2000.cpp

@@ -49,6 +49,7 @@ SA_GD2000::SA_GD2000(const char *frame_str) :
     Plane(frame_str)
 {
     AP_Param::load_defaults_file("@ROMFS/models/sa_gd2000.parm", false);
+    AP_Param::load_defaults_file("@ROMFS/models/sa_gd2000_SITL.parm", false);
     AP::sitl()->models.sa_gd2000_ptr = this;
     AP_Param::setup_object_defaults(this, var_info);
 
@@ -58,56 +59,6 @@ SA_GD2000::SA_GD2000(const char *frame_str) :
 
     coefficient.c_drag_p = 0.05;
 
-  // SITL param
-  AP_Param::set_by_name("SERVO1_FUNCTION",19);
-  AP_Param::set_by_name("SERVO1_MAX",2000);
-  AP_Param::set_by_name("SERVO1_MIN",1000);
-  AP_Param::set_by_name("SERVO1_REVERSED",0);
-  AP_Param::set_by_name("SERVO1_TRIM",1500);
-  AP_Param::set_by_name("SERVO2_FUNCTION",4);
-  AP_Param::set_by_name("SERVO2_MAX",2000);
-  AP_Param::set_by_name("SERVO2_MIN",1000);
-  AP_Param::set_by_name("SERVO2_REVERSED",1);
-  AP_Param::set_by_name("SERVO2_TRIM",1500);
-  AP_Param::set_by_name("SERVO3_FUNCTION",19);
-  AP_Param::set_by_name("SERVO3_MAX",2000);
-  AP_Param::set_by_name("SERVO3_MIN",1000);
-  AP_Param::set_by_name("SERVO3_REVERSED",1);
-  AP_Param::set_by_name("SERVO3_TRIM",1500);
-  AP_Param::set_by_name("SERVO4_FUNCTION",4);
-  AP_Param::set_by_name("SERVO4_MAX",2000);
-  AP_Param::set_by_name("SERVO4_MIN",1000);
-  AP_Param::set_by_name("SERVO4_REVERSED",1);
-  AP_Param::set_by_name("SERVO4_TRIM",1500);
-
-
-
-// xplane and HW param
-// SERVO1_FUNCTION,19
-// SERVO1_MAX,2000
-// SERVO1_MIN,1000
-// SERVO1_REVERSED,0
-// SERVO1_TRIM,1500
-// SERVO2_FUNCTION,4
-// SERVO2_MAX,2000
-// SERVO2_MIN,1000
-// SERVO2_REVERSED,1
-// SERVO2_TRIM,1500
-// SERVO3_FUNCTION,19
-// SERVO3_MAX,2000
-// SERVO3_MIN,1000
-// SERVO3_REVERSED,1
-// SERVO3_TRIM,1500
-// SERVO4_FUNCTION,4
-// SERVO4_MAX,2000
-// SERVO4_MIN,1000
-// SERVO4_REVERSED,1
-// SERVO4_TRIM,1500
-
-
-
-
-
 }
 
 /*