SITL parameters documentation update #28053
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YuxinPan
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| // @Param: DRIFT_SPEED | ||
| // @DisplayName: Gyro drift speed | ||
| // @Description: Gyro drift rate of change in degrees/second/minute |
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Are these really in minutes?! That's rather odd. Not saying you're wrong, but please make sure its right!
Also, we can put units into separate fields, like this:
| // @Description: Gyro drift rate of change in degrees/second/minute | |
| // @Description: Gyro drift rate of change | |
| // @Units: deg/s/s |
Known units are here: https://github.com/ardupilot/ardupilot/blob/master/Tools/autotest/param_metadata/param.py#L66
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It is indeed uncommon. I referred to the SITL.h where the comment states: AP_Float drift_speed; // degrees/second/minute
Also, I see double minutes = fmod(AP_HAL::micros64() / 60.0e6, period); if (minutes < period/2) { return minutes * ToRad(sitl->drift_speed); } return (period - minutes) * ToRad(sitl->drift_speed);
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Great, thanks!
Sometimes the hard-to-believe things just make you do more work :-)
Tools/autotest/vehicle_test_suite.py
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| "SIM_BAR2_DISABLE", # not listed in SITL.cpp | ||
| "SIM_BAR2_DRIFT", # not referenced anywhere | ||
| "SIM_BAR2_FREEZE", # not listed in SITL.cpp | ||
| "SIM_BAR2_WCF_BAK", # not referenced anywhere |
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Everything in this list is used - we have a sanity check for that ;-)
In this case the parameters are coming from in here: https://github.com/ardupilot/ardupilot/blob/pr%2Fstop-using-python-is-python3/libraries/SITL/SITL.cpp#L589
Fixing this requires moving the BaroParm structure to a new file, probably SITL_Baro.cpp . @antholuo did the same thing to document airspeed by creating SITL_Airspeed.cpp, so use that as a model
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Thanks I can follow the approach in #25005. Do you want that to be a separate PR or included in this one?
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Separate PR makes sense. Makes these easy to review!
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| // @Param: DRIFT_SPEED | ||
| // @DisplayName: Gyro drift speed | ||
| // @Description: Gyro drift rate of change in degrees/second/minute |
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Great, thanks!
Sometimes the hard-to-believe things just make you do more work :-)
peterbarker
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SITL: vehicle_test_suite.py parameters removal from whitelist SITL: Add known unit amp hour SITL: Add known unit Ah Co-authored-by: Peter Barker <[email protected]>
peterbarker
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Merged, thanks! |
Partially addressing #22903
Passed Sim helper check and CI check:
Will squash commits once approved.
@peterbarker