diff --git a/Tools/autotest/models/sa_gd2000_SITL.parm b/Tools/autotest/models/sa_gd2000_SITL.parm new file mode 100644 index 0000000000000..0c31c55223970 --- /dev/null +++ b/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 diff --git a/libraries/SITL/SIM_SA_GD2000.cpp b/libraries/SITL/SIM_SA_GD2000.cpp index 1a27499054283..b77a7e9a411f0 100644 --- a/libraries/SITL/SIM_SA_GD2000.cpp +++ b/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 - - - - - } /*