From 8b61aea115c248855d049983b124300df9e4ef0a Mon Sep 17 00:00:00 2001 From: Yuxin Pan <0@outlook.it> Date: Wed, 11 Sep 2024 20:51:21 +1000 Subject: [PATCH 1/2] SITL: remove params from whiltelist --- libraries/SITL/SITL.cpp | 261 +++++++++++++++++++++++++++++++++++++--- 1 file changed, 246 insertions(+), 15 deletions(-) diff --git a/libraries/SITL/SITL.cpp b/libraries/SITL/SITL.cpp index 6d85b5059d706..2fe8ee349d14d 100644 --- a/libraries/SITL/SITL.cpp +++ b/libraries/SITL/SITL.cpp @@ -110,6 +110,9 @@ const AP_Param::GroupInfo SIM::var_info[] = { // @Path: ./ServoModel.cpp AP_SUBGROUPINFO(servo, "SERVO_", 16, SIM, ServoParams), + // @Param: SONAR_ROT + // @DisplayName: Sonar rotation + // @Description: Sonar rotation from rotations enumeration AP_GROUPINFO("SONAR_ROT", 17, SIM, sonar_rot, Rotation::ROTATION_PITCH_270), // @Param: BATT_VOLTAGE // @DisplayName: Simulated battery voltage @@ -123,7 +126,16 @@ const AP_Param::GroupInfo SIM::var_info[] = { // @Units: Ah // @User: Advanced AP_GROUPINFO("BATT_CAP_AH", 20, SIM, batt_capacity_ah, 0), + // @Param: SONAR_GLITCH + // @DisplayName: Sonar glitch probablility + // @Description: Probablility a sonar glitch would happen + // @Range: 0 1 + // @User: Advanced AP_GROUPINFO("SONAR_GLITCH", 23, SIM, sonar_glitch, 0), + // @Param: SONAR_RND + // @DisplayName: Sonar noise factor + // @Description: Scaling factor for simulated sonar noise + // @User: Advanced AP_GROUPINFO("SONAR_RND", 24, SIM, sonar_noise, 0), // @Param: RC_FAIL // @DisplayName: Simulated RC signal failure @@ -162,12 +174,20 @@ const AP_Param::GroupInfo SIM::var_info[] = { AP_GROUPINFO("CAN_TYPE2", 31, SIM, can_transport[1], uint8_t(CANTransport::MulticastUDP)), #endif + // @Param: SONAR_SCALE + // @DisplayName: Sonar conversion scale + // @Description: Sonar conversion scale from distance to voltage + // @Units: m/V AP_GROUPINFO("SONAR_SCALE", 32, SIM, sonar_scale, 12.1212f), // @Param: FLOW_ENABLE // @DisplayName: Opflow Enable // @Description: Enable simulated Optical Flow sensor // @Values: 0:Disable,1:Enabled AP_GROUPINFO("FLOW_ENABLE", 33, SIM, flow_enable, 0), + // @Param: TERRAIN + // @DisplayName: Terrain Enable + // @Description: Enable using terrain for height + // @Values: 0:Disable,1:Enabled AP_GROUPINFO("TERRAIN", 34, SIM, terrain_enable, 1), // @Param: FLOW_RATE // @DisplayName: Opflow Rate @@ -193,6 +213,9 @@ const AP_Param::GroupInfo SIM::var_info[] = { // @Description: Simulated ADSB altitude of another aircraft // @Units: m AP_GROUPINFO("ADSB_ALT", 47, SIM, adsb_altitude_m, 1000), + // @Param: PIN_MASK + // @DisplayName: GPIO emulation + // @Description: SITL GPIO emulation AP_GROUPINFO("PIN_MASK", 50, SIM, pin_mask, 0), // @Param: ADSB_TX // @DisplayName: ADSB transmit enable @@ -236,11 +259,30 @@ const AP_Param::GroupInfo SIM::var_info[] = { // second table of user settable parameters for SITL. const AP_Param::GroupInfo SIM::var_info2[] = { + // @Param: TEMP_START + // @DisplayName: Start temperature + // @Description: Baro start temperature + // @Units: degC + // @User: Advanced AP_GROUPINFO("TEMP_START", 1, SIM, temp_start, 25), + // @Param: TEMP_BRD_OFF + // @DisplayName: Baro temperature offset + // @Description: Barometer board temperature offset from atmospheric temperature + // @Units: degC + // @User: Advanced AP_GROUPINFO("TEMP_BRD_OFF", 2, SIM, temp_board_offset, 20), + // @Param: TEMP_TCONST + // @DisplayName: Warmup time constant + // @Description: Barometer warmup temperature time constant + // @Units: degC + // @User: Advanced AP_GROUPINFO("TEMP_TCONST", 3, SIM, temp_tconst, 30), - AP_GROUPINFO("TEMP_BFACTOR", 4, SIM, temp_baro_factor, 0), + // @Param: TEMP_BFACTOR + // @DisplayName: Baro temperature factor + // @Description: A pressure change with temperature that closely matches what has been observed with a ICM-20789 + // @User: Advanced + AP_GROUPINFO("TEMP_BFACTOR", 4, SIM, temp_baro_factor, 0), // @Param: WIND_DIR_Z // @DisplayName: Simulated wind vertical direction // @Description: Allows you to set vertical wind direction (true deg) in sim. 0 means pure horizontal wind. 90 means pure updraft. @@ -264,6 +306,9 @@ const AP_Param::GroupInfo SIM::var_info2[] = { // @Description: For linear wind profile,wind is reduced by (Altitude-WIND_T_ALT) x this value // @User: Advanced AP_GROUPINFO("WIND_T_COEF", 17, SIM, wind_type_coef, 0.01f), + // @Param: RC_CHANCOUNT + // @DisplayName: RC channel count + // @Description: SITL RC channel count AP_GROUPINFO("RC_CHANCOUNT",21, SIM, rc_chancount, 16), // @Group: SPR_ // @Path: ./SIM_Sprayer.cpp @@ -296,32 +341,95 @@ const AP_Param::GroupInfo SIM::var_info2[] = { // @Path: ./SIM_Precland.cpp AP_SUBGROUPINFO(precland_sim, "PLD_", 29, SIM, SIM_Precland), - // apply a force to the vehicle over a period of time: + // @Param: SHOVE_X + // @DisplayName: Acceleration of shove x + // @Description: Acceleration of shove to vehicle in x axis + // @Units: m/s/s AP_GROUPINFO("SHOVE_X", 30, SIM, shove.x, 0), + // @Param: SHOVE_Y + // @DisplayName: Acceleration of shove y + // @Description: Acceleration of shove to vehicle in y axis + // @Units: m/s/s AP_GROUPINFO("SHOVE_Y", 31, SIM, shove.y, 0), + // @Param: SHOVE_Z + // @DisplayName: Acceleration of shove z + // @Description: Acceleration of shove to vehicle in z axis + // @Units: m/s/s AP_GROUPINFO("SHOVE_Z", 32, SIM, shove.z, 0), + // @Param: SHOVE_TIME + // @DisplayName: Time length for shove + // @Description: Force to the vehicle over a period of time + // @Units: ms AP_GROUPINFO("SHOVE_TIME", 33, SIM, shove.t, 0), - // optical flow sensor measurement noise in rad/sec // @Param: FLOW_RND // @DisplayName: Opflow noise - // @Description: Optical Flow sensor measurement noise in rad/sec + // @Description: Optical Flow sensor measurement noise + // @Units: rad/s AP_GROUPINFO("FLOW_RND", 34, SIM, flow_noise, 0.05f), + // @Param: TWIST_X + // @DisplayName: Twist x + // @Description: Rotational acceleration of twist x axis + // @Units: rad/s/s AP_GROUPINFO("TWIST_X", 37, SIM, twist.x, 0), + // @Param: TWIST_Y + // @DisplayName: Twist y + // @Description: Rotational acceleration of twist y axis + // @Units: rad/s/s AP_GROUPINFO("TWIST_Y", 38, SIM, twist.y, 0), + // @Param: TWIST_Z + // @DisplayName: Twist z + // @Description: Rotational acceleration of twist z axis + // @Units: rad/s/s AP_GROUPINFO("TWIST_Z", 39, SIM, twist.z, 0), + // @Param: TWIST_TIME + // @DisplayName: Twist time + // @Description: Time that twist is applied on the vehicle + // @Units: ms AP_GROUPINFO("TWIST_TIME", 40, SIM, twist.t, 0), + // @Param: GND_BEHAV + // @DisplayName: Ground behavior + // @Description: Ground behavior of aircraft (tailsitter, no movement, forward only) AP_GROUPINFO("GND_BEHAV", 41, SIM, gnd_behav, -1), // sailboat wave and tide simulation parameters + + // @Param: WAVE_ENABLE + // @DisplayName: Wave enable + // @Description: Wave enable and modes + // @Values: 0:disabled, 1: roll and pitch, 2: roll and pitch and heave AP_GROUPINFO("WAVE_ENABLE", 44, SIM, wave.enable, 0.0f), + // @Param: WAVE_LENGTH + // @DisplayName: Wave length + // @Description: Wave length in SITL + // @Units: m AP_GROUPINFO("WAVE_LENGTH", 45, SIM, wave.length, 10.0f), + // @Param: WAVE_AMP + // @DisplayName: Wave amplitude + // @Description: Wave amplitude in SITL + // @Units: m AP_GROUPINFO("WAVE_AMP", 46, SIM, wave.amp, 0.5f), + // @Param: WAVE_DIR + // @DisplayName: Wave direction + // @Description: Direction wave is coming from + // @Units: deg AP_GROUPINFO("WAVE_DIR", 47, SIM, wave.direction, 0.0f), + // @Param: WAVE_SPEED + // @DisplayName: Wave speed + // @Description: Wave speed in SITL + // @Units: m/s AP_GROUPINFO("WAVE_SPEED", 48, SIM, wave.speed, 0.5f), + // @Param: TIDE_DIR + // @DisplayName: Tide direction + // @Description: Tide direction wave is coming from + // @Units: deg AP_GROUPINFO("TIDE_DIR", 49, SIM, tide.direction, 0.0f), + // @Param: TIDE_SPEED + // @DisplayName: Tide speed + // @Description: Tide speed in simulation + // @Units: m/s AP_GROUPINFO("TIDE_SPEED", 50, SIM, tide.speed, 0.0f), // the following coordinates are for CMAC, in Canberra @@ -345,8 +453,10 @@ const AP_Param::GroupInfo SIM::var_info2[] = { // @Description: Specifies vehicle's startup heading (0-360) // @User: Advanced AP_GROUPINFO("OPOS_HDG", 54, SIM, opos.hdg, 353.0f), - - // extra delay per main loop + // @Param: LOOP_DELAY + // @DisplayName: Extra delay per main loop + // @Description: Extra time delay per main loop + // @Units: us AP_GROUPINFO("LOOP_DELAY", 55, SIM, loop_delay, 0), // @Path: ./SIM_Buzzer.cpp @@ -363,17 +473,26 @@ const AP_Param::GroupInfo SIM::var_info2[] = { // 59 was SAFETY_STATE - // motor harmonics + // @Param: VIB_MOT_HMNC + // @DisplayName: Motor harmonics + // @Description: Motor harmonics generated in SITL AP_GROUPINFO("VIB_MOT_HMNC", 60, SIM, vibe_motor_harmonics, 1), - - // motor mask, allowing external simulators to mark motors + // @Param: VIB_MOT_MASK + // @DisplayName: Motor mask + // @Description: Motor mask, allowing external simulators to mark motors AP_GROUPINFO("VIB_MOT_MASK", 5, SIM, vibe_motor_mask, 0), - - // max motor vibration frequency + // @Param: VIB_MOT_MAX + // @DisplayName: Max motor vibration frequency + // @Description: Max frequency to use as baseline for adding motor noise for the gyros and accels + // @Units: Hz AP_GROUPINFO("VIB_MOT_MAX", 61, SIM, vibe_motor, 0.0f), - // minimum throttle for simulated ins noise + // @Param: INS_THR_MIN + // @DisplayName: Minimum throttle INS noise + // @Description: Minimum throttle for simulated ins noise AP_GROUPINFO("INS_THR_MIN", 62, SIM, ins_noise_throttle_min, 0.1f), - // amplitude scaling of motor noise relative to gyro/accel noise + // @Param: VIB_MOT_MULT + // @DisplayName: Vibration motor scale + // @Description: Amplitude scaling of motor noise relative to gyro/accel noise AP_GROUPINFO("VIB_MOT_MULT", 63, SIM, vibe_motor_scale, 1.0f), @@ -383,11 +502,20 @@ const AP_Param::GroupInfo SIM::var_info2[] = { // third table of user settable parameters for SITL. const AP_Param::GroupInfo SIM::var_info3[] = { + // @Param: ODOM_ENABLE + // @DisplayName: Odometry enable + // @Description: SITL odometry enabl + // @Values: 0:Disable, 1:Enable AP_GROUPINFO("ODOM_ENABLE", 1, SIM, odom_enable, 0), + // @Param: LED_LAYOUT + // @DisplayName: LED layout + // @Description: LED layout config value AP_GROUPINFO("LED_LAYOUT", 11, SIM, led_layout, 0), - // Scenario for thermalling simulation, for soaring + // @Param: THML_SCENARI + // @DisplayName: Thermal scenarios + // @Description: Scenario for thermalling simulation, for soaring AP_GROUPINFO("THML_SCENARI", 12, SIM, thermal_scenario, 0), // @Param: VICON_POS_X @@ -483,6 +611,10 @@ const AP_Param::GroupInfo SIM::var_info3[] = { // @User: Advanced AP_GROUPINFO("VICON_VGLI", 21, SIM, vicon_vel_glitch, 0), + // @Param: RATE_HZ + // @DisplayName: Loop rate + // @Description: SITL Loop rate + // @Units: Hz AP_GROUPINFO("RATE_HZ", 22, SIM, loop_rate_hz, SIM_RATE_HZ_DEFAULT), // @Param: IMU_COUNT @@ -514,6 +646,11 @@ const AP_Param::GroupInfo SIM::var_info3[] = { AP_SUBGROUPINFO(baro[2], "BAR3_", 36, SIM, SIM::BaroParm), #endif + // @Param: TIME_JITTER + // @DisplayName: Loop time jitter + // @Description: Upper limit of random jitter in loop time + // @Units: us + // @User: Advanced AP_GROUPINFO("TIME_JITTER", 37, SIM, loop_time_jitter_us, 0), // user settable parameters for the 1st barometer @@ -845,38 +982,88 @@ const AP_Param::GroupInfo SIM::var_gps[] = { // Mag SITL parameters const AP_Param::GroupInfo SIM::var_mag[] = { + // @Param: MAG_RND + // @DisplayName: Mag motor noise factor + // @Description: Scaling factor for simulated vibration from motors + // @User: Advanced AP_GROUPINFO("MAG_RND", 1, SIM, mag_noise, 0), AP_GROUPINFO("MAG_MOT", 2, SIM, mag_mot, 0), + // @Param: MAG_DELAY + // @DisplayName: Mag measurement delay + // @Description: Magnetometer measurement delay + // @Units: ms + // @User: Advanced AP_GROUPINFO("MAG_DELAY", 3, SIM, mag_delay, 0), AP_GROUPINFO("MAG1_OFS", 4, SIM, mag_ofs[0], 0), AP_GROUPINFO("MAG_ALY", 5, SIM, mag_anomaly_ned, 0), + // @Param: MAG_ALY_HGT + // @DisplayName: Magnetic anomaly height + // @Description: Height above ground where anomally strength has decayed to 1/8 of the ground level value + // @Units: m + // @User: Advanced AP_GROUPINFO("MAG_ALY_HGT", 6, SIM, mag_anomaly_hgt, 1.0f), AP_GROUPINFO("MAG1_DIA", 7, SIM, mag_diag[0], 0), AP_GROUPINFO("MAG1_ODI", 8, SIM, mag_offdiag[0], 0), + // @Param: MAG1_ORIENT + // @DisplayName: MAG1 Orientation + // @Description: MAG1 external compass orientation + // @User: Advanced AP_GROUPINFO("MAG1_ORIENT", 9, SIM, mag_orient[0], 0), + // @Param: MAG1_SCALING + // @DisplayName: MAG1 Scaling factor + // @Description: Scale the compass 1 to simulate sensor scale factor errors + // @User: Advanced AP_GROUPINFO("MAG1_SCALING", 10, SIM, mag_scaling[0], 1), // @Param: MAG1_DEVID // @DisplayName: MAG1 Device ID // @Description: Device ID of simulated compass 1 // @User: Advanced AP_GROUPINFO("MAG1_DEVID", 11, SIM, mag_devid[0], 97539), + // @Param: MAG2_DEVID + // @DisplayName: MAG2 Device ID + // @Description: Device ID of simulated compass 2 + // @User: Advanced AP_GROUPINFO("MAG2_DEVID", 12, SIM, mag_devid[1], 131874), #if MAX_CONNECTED_MAGS > 2 + // @Param: MAG3_DEVID + // @DisplayName: MAG3 Device ID + // @Description: Device ID of simulated compass 3 + // @User: Advanced AP_GROUPINFO("MAG3_DEVID", 13, SIM, mag_devid[2], 263178), #endif #if MAX_CONNECTED_MAGS > 3 + // @Param: MAG4_DEVID + // @DisplayName: MAG2 Device ID + // @Description: Device ID of simulated compass 4 + // @User: Advanced AP_GROUPINFO("MAG4_DEVID", 14, SIM, mag_devid[3], 97283), #endif #if MAX_CONNECTED_MAGS > 4 + // @Param: MAG5_DEVID + // @DisplayName: MAG5 Device ID + // @Description: Device ID of simulated compass 5 + // @User: Advanced AP_GROUPINFO("MAG5_DEVID", 15, SIM, mag_devid[4], 97795), #endif #if MAX_CONNECTED_MAGS > 5 + // @Param: MAG6_DEVID + // @DisplayName: MAG6 Device ID + // @Description: Device ID of simulated compass 6 + // @User: Advanced AP_GROUPINFO("MAG6_DEVID", 16, SIM, mag_devid[5], 98051), #endif #if MAX_CONNECTED_MAGS > 6 + // @Param: MAG7_DEVID + // @DisplayName: MAG7 Device ID + // @Description: Device ID of simulated compass 7 + // @User: Advanced AP_GROUPINFO("MAG7_DEVID", 17, SIM, mag_devid[6], 0), #endif #if MAX_CONNECTED_MAGS > 7 + // @Param: MAG8_DEVID + // @DisplayName: MAG8 Device ID + // @Description: Device ID of simulated compass 8 + // @User: Advanced AP_GROUPINFO("MAG8_DEVID", 18, SIM, mag_devid[7], 0), #endif // @Param: MAG1_FAIL @@ -889,6 +1076,10 @@ const AP_Param::GroupInfo SIM::var_mag[] = { AP_GROUPINFO("MAG2_OFS", 19, SIM, mag_ofs[1], 0), AP_GROUPINFO("MAG2_DIA", 20, SIM, mag_diag[1], 0), AP_GROUPINFO("MAG2_ODI", 21, SIM, mag_offdiag[1], 0), + // @Param: MAG2_ORIENT + // @DisplayName: MAG2 Orientation + // @Description: MAG2 external compass orientation + // @User: Advanced AP_GROUPINFO("MAG2_ORIENT", 22, SIM, mag_orient[1], 0), // @Param: MAG2_FAIL // @DisplayName: MAG2 Failure @@ -896,6 +1087,10 @@ const AP_Param::GroupInfo SIM::var_mag[] = { // @Values: 0:Disabled, 1:MAG2 Failure // @User: Advanced AP_GROUPINFO("MAG2_FAIL", 27, SIM, mag_fail[1], 0), + // @Param: MAG2_SCALING + // @DisplayName: MAG2 Scaling factor + // @Description: Scale the compass 2 to simulate sensor scale factor errors + // @User: Advanced AP_GROUPINFO("MAG2_SCALING", 28, SIM, mag_scaling[1], 1), #endif #if HAL_COMPASS_MAX_SENSORS > 2 @@ -908,7 +1103,15 @@ const AP_Param::GroupInfo SIM::var_mag[] = { // @Values: 0:Disabled, 1:MAG3 Failure // @User: Advanced AP_GROUPINFO("MAG3_FAIL", 29, SIM, mag_fail[2], 0), + // @Param: MAG3_SCALING + // @DisplayName: MAG3 Scaling factor + // @Description: Scale the compass 3 to simulate sensor scale factor errors + // @User: Advanced AP_GROUPINFO("MAG3_SCALING", 30, SIM, mag_scaling[2], 1), + // @Param: MAG3_ORIENT + // @DisplayName: MAG3 Orientation + // @Description: MAG3 external compass orientation + // @User: Advanced AP_GROUPINFO("MAG3_ORIENT", 36, SIM, mag_orient[2], 0), #endif @@ -940,9 +1143,21 @@ const AP_Param::GroupInfo SIM::var_sfml_joystick[] = { // INS SITL parameters const AP_Param::GroupInfo SIM::var_ins[] = { #if HAL_INS_TEMPERATURE_CAL_ENABLE + // @Param: IMUT_START + // @DisplayName: IMU temperature start + // @Description: Starting IMU temperature of a curve AP_GROUPINFO("IMUT_START", 1, SIM, imu_temp_start, 25), + // @Param: IMUT_END + // @DisplayName: IMU temperature end + // @Description: Ending IMU temperature of a curve AP_GROUPINFO("IMUT_END", 2, SIM, imu_temp_end, 45), + // @Param: IMUT_TCONST + // @DisplayName: IMU temperature time constant + // @Description: IMU temperature time constant of the curve AP_GROUPINFO("IMUT_TCONST", 3, SIM, imu_temp_tconst, 300), + // @Param: IMUT_FIXED + // @DisplayName: IMU fixed temperature + // @Description: IMU fixed temperature by user AP_GROUPINFO("IMUT_FIXED", 4, SIM, imu_temp_fixed, 0), #endif // @Param: ACC1_BIAS @@ -965,11 +1180,21 @@ const AP_Param::GroupInfo SIM::var_ins[] = { // @Vector3Parameter: 1 AP_GROUPINFO("ACC3_BIAS", 7, SIM, accel_bias[2], 0), #endif + // @Param: GYR1_RND + // @DisplayName: Gyro 1 motor noise factor + // @Description: scaling factor for simulated vibration from motors + // @User: Advanced AP_GROUPINFO("GYR1_RND", 8, SIM, gyro_noise[0], 0), #if INS_MAX_INSTANCES > 1 + // @Param: GYR2_RND + // @DisplayName: Gyro 2 motor noise factor + // @CopyFieldsFrom: SIM_GYR1_RND AP_GROUPINFO("GYR2_RND", 9, SIM, gyro_noise[1], 0), #endif #if INS_MAX_INSTANCES > 2 + // @Param: GYR3_RND + // @DisplayName: Gyro 3 motor noise factor + // @CopyFieldsFrom: SIM_GYR1_RND AP_GROUPINFO("GYR3_RND", 10, SIM, gyro_noise[2], 0), #endif // @Param: ACC1_RND @@ -1031,7 +1256,7 @@ const AP_Param::GroupInfo SIM::var_ins[] = { // @User: Advanced AP_GROUPINFO("ACCEL3_FAIL", 19, SIM, accel_fail[2], 0), #endif - // @Param: GYRO_FAIL_MSK + // @Param: GYR_FAIL_MSK // @DisplayName: Gyro Failure Mask // @Description: Determines if the gyro reading updates are stopped when for an IMU simulated failure by ACCELx_FAIL params // @Values: 0:Disabled, 1:Readings stopped @@ -1177,6 +1402,9 @@ const AP_Param::GroupInfo SIM::var_ins[] = { // @CopyFieldsFrom: SIM_ACC1_RND AP_GROUPINFO("ACC4_RND", 37, SIM, accel_noise[3], 0), + // @Param: GYR4_RND + // @DisplayName: Gyro 4 motor noise factor + // @CopyFieldsFrom: SIM_GYR1_RND AP_GROUPINFO("GYR4_RND", 38, SIM, gyro_noise[3], 0), // @Param: ACC4_BIAS @@ -1230,6 +1458,9 @@ const AP_Param::GroupInfo SIM::var_ins[] = { // @CopyFieldsFrom: SIM_ACC1_RND AP_GROUPINFO("ACC5_RND", 44, SIM, accel_noise[4], 0), + // @Param: GYR5_RND + // @DisplayName: Gyro 5 motor noise factor + // @CopyFieldsFrom: SIM_GYR1_RND AP_GROUPINFO("GYR5_RND", 45, SIM, gyro_noise[4], 0), // @Param: ACC5_BIAS From ff6778a1e47e1e19b1dfa8705919eff0ee3eff0c Mon Sep 17 00:00:00 2001 From: Yuxin Pan <0@outlook.it> Date: Wed, 11 Sep 2024 20:51:21 +1000 Subject: [PATCH 2/2] Tools: remove params from whiltelist --- Tools/autotest/vehicle_test_suite.py | 64 ---------------------------- 1 file changed, 64 deletions(-) diff --git a/Tools/autotest/vehicle_test_suite.py b/Tools/autotest/vehicle_test_suite.py index aab4f58752712..b352b1f286576 100644 --- a/Tools/autotest/vehicle_test_suite.py +++ b/Tools/autotest/vehicle_test_suite.py @@ -2597,13 +2597,6 @@ def get_sim_parameter_documentation_get_whitelist(self): "SIM_BARO_WCF_UP", "SIM_FTOWESC_ENA", "SIM_FTOWESC_POW", - "SIM_GND_BEHAV", - "SIM_GYR1_RND", - "SIM_GYR2_RND", - "SIM_GYR3_RND", - "SIM_GYR4_RND", - "SIM_GYR5_RND", - "SIM_GYR_FAIL_MSK", "SIM_IE24_ENABLE", "SIM_IE24_ERROR", "SIM_IE24_STATE", @@ -2712,15 +2705,6 @@ def get_sim_parameter_documentation_get_whitelist(self): "SIM_IMUT5_GYR3_Z", "SIM_IMUT5_TMAX", "SIM_IMUT5_TMIN", - "SIM_IMUT_END", - "SIM_IMUT_FIXED", - "SIM_IMUT_START", - "SIM_IMUT_TCONST", - "SIM_INS_THR_MIN", - "SIM_LED_LAYOUT", - "SIM_LOOP_DELAY", - "SIM_MAG1_SCALING", - "SIM_MAG2_DEVID", "SIM_MAG2_DIA_X", "SIM_MAG2_DIA_Y", "SIM_MAG2_DIA_Z", @@ -2730,9 +2714,6 @@ def get_sim_parameter_documentation_get_whitelist(self): "SIM_MAG2_OFS_X", "SIM_MAG2_OFS_Y", "SIM_MAG2_OFS_Z", - "SIM_MAG2_ORIENT", - "SIM_MAG2_SCALING", - "SIM_MAG3_DEVID", "SIM_MAG3_DIA_X", "SIM_MAG3_DIA_Y", "SIM_MAG3_DIA_Z", @@ -2742,18 +2723,9 @@ def get_sim_parameter_documentation_get_whitelist(self): "SIM_MAG3_OFS_X", "SIM_MAG3_OFS_Y", "SIM_MAG3_OFS_Z", - "SIM_MAG3_ORIENT", - "SIM_MAG3_SCALING", - "SIM_MAG4_DEVID", - "SIM_MAG5_DEVID", - "SIM_MAG6_DEVID", - "SIM_MAG7_DEVID", - "SIM_MAG8_DEVID", - "SIM_MAG_ALY_HGT", "SIM_MAG_ALY_X", "SIM_MAG_ALY_Y", "SIM_MAG_ALY_Z", - "SIM_MAG_DELAY", "SIM_MAG1_DIA_X", "SIM_MAG1_DIA_Y", "SIM_MAG1_DIA_Z", @@ -2766,16 +2738,10 @@ def get_sim_parameter_documentation_get_whitelist(self): "SIM_MAG1_OFS_X", "SIM_MAG1_OFS_Y", "SIM_MAG1_OFS_Z", - "SIM_MAG1_ORIENT", - "SIM_MAG_RND", - "SIM_ODOM_ENABLE", "SIM_PARA_ENABLE", "SIM_PARA_PIN", - "SIM_PIN_MASK", "SIM_PLD_ALT_LMT", "SIM_PLD_DIST_LMT", - "SIM_RATE_HZ", - "SIM_RC_CHANCOUNT", "SIM_RICH_CTRL", "SIM_RICH_ENABLE", "SIM_SHIP_DSIZE", @@ -2786,43 +2752,13 @@ def get_sim_parameter_documentation_get_whitelist(self): "SIM_SHIP_PSIZE", "SIM_SHIP_SPEED", "SIM_SHIP_SYSID", - "SIM_SHOVE_TIME", - "SIM_SHOVE_X", - "SIM_SHOVE_Y", - "SIM_SHOVE_Z", - "SIM_SONAR_GLITCH", "SIM_SONAR_POS_X", "SIM_SONAR_POS_Y", "SIM_SONAR_POS_Z", - "SIM_SONAR_RND", - "SIM_SONAR_ROT", - "SIM_SONAR_SCALE", "SIM_TA_ENABLE", - "SIM_TEMP_BFACTOR", - "SIM_TEMP_BRD_OFF", - "SIM_TEMP_START", - "SIM_TEMP_TCONST", - "SIM_TERRAIN", - "SIM_THML_SCENARI", - "SIM_TIDE_DIR", - "SIM_TIDE_SPEED", - "SIM_TIME_JITTER", - "SIM_TWIST_TIME", - "SIM_TWIST_X", - "SIM_TWIST_Y", - "SIM_TWIST_Z", "SIM_VIB_FREQ_X", "SIM_VIB_FREQ_Y", "SIM_VIB_FREQ_Z", - "SIM_VIB_MOT_HMNC", - "SIM_VIB_MOT_MASK", - "SIM_VIB_MOT_MAX", - "SIM_VIB_MOT_MULT", - "SIM_WAVE_AMP", - "SIM_WAVE_DIR", - "SIM_WAVE_ENABLE", - "SIM_WAVE_LENGTH", - "SIM_WAVE_SPEED", ]) vinfo_key = self.vehicleinfo_key()