SIM_ parameters¶
347 parameters in the SIM_ family. ArduCopter 4.7 only — other vehicles share many of these names but not always the same ranges or meanings.
SIM_ACC1_BIAS_X¶
Accel 1 bias
bias of simulated accelerometer sensor (X-axis)
User level |
Advanced |
SIM_ACC1_BIAS_Y¶
Accel 1 bias
bias of simulated accelerometer sensor (Y-axis)
User level |
Advanced |
SIM_ACC1_BIAS_Z¶
Accel 1 bias
bias of simulated accelerometer sensor (Z-axis)
User level |
Advanced |
SIM_ACC1_RND¶
Accel 1 motor noise factor
scaling factor for simulated vibration from motors
User level |
Advanced |
SIM_ACC1_SCAL_X¶
Accel 1 scaling factor
scaling factors applied to simulated accelerometer (X-axis)
User level |
Advanced |
SIM_ACC1_SCAL_Y¶
Accel 1 scaling factor
scaling factors applied to simulated accelerometer (Y-axis)
User level |
Advanced |
SIM_ACC1_SCAL_Z¶
Accel 1 scaling factor
scaling factors applied to simulated accelerometer (Z-axis)
User level |
Advanced |
SIM_ACC2_BIAS_X¶
Accel 2 bias
bias of simulated accelerometer sensor (X-axis)
User level |
Advanced |
SIM_ACC2_BIAS_Y¶
Accel 2 bias
bias of simulated accelerometer sensor (Y-axis)
User level |
Advanced |
SIM_ACC2_BIAS_Z¶
Accel 2 bias
bias of simulated accelerometer sensor (Z-axis)
User level |
Advanced |
SIM_ACC2_RND¶
Accel 2 motor noise factor
scaling factor for simulated vibration from motors
User level |
Advanced |
SIM_ACC2_SCAL_X¶
Accel 2 scaling factor
scaling factors applied to simulated accelerometer (X-axis)
User level |
Advanced |
SIM_ACC2_SCAL_Y¶
Accel 2 scaling factor
scaling factors applied to simulated accelerometer (Y-axis)
User level |
Advanced |
SIM_ACC2_SCAL_Z¶
Accel 2 scaling factor
scaling factors applied to simulated accelerometer (Z-axis)
User level |
Advanced |
SIM_ACC3_BIAS_X¶
Accel 3 bias
bias of simulated accelerometer sensor (X-axis)
User level |
Advanced |
SIM_ACC3_BIAS_Y¶
Accel 3 bias
bias of simulated accelerometer sensor (Y-axis)
User level |
Advanced |
SIM_ACC3_BIAS_Z¶
Accel 3 bias
bias of simulated accelerometer sensor (Z-axis)
User level |
Advanced |
SIM_ACC3_RND¶
Accel 3 motor noise factor
scaling factor for simulated vibration from motors
User level |
Advanced |
SIM_ACC3_SCAL_X¶
Accel 3 scaling factor
scaling factors applied to simulated accelerometer (X-axis)
User level |
Advanced |
SIM_ACC3_SCAL_Y¶
Accel 3 scaling factor
scaling factors applied to simulated accelerometer (Y-axis)
User level |
Advanced |
SIM_ACC3_SCAL_Z¶
Accel 3 scaling factor
scaling factors applied to simulated accelerometer (Z-axis)
User level |
Advanced |
SIM_ACC4_BIAS_X¶
Accel 4 bias
bias of simulated accelerometer sensor (X-axis)
User level |
Advanced |
SIM_ACC4_BIAS_Y¶
Accel 4 bias
bias of simulated accelerometer sensor (Y-axis)
User level |
Advanced |
SIM_ACC4_BIAS_Z¶
Accel 4 bias
bias of simulated accelerometer sensor (Z-axis)
User level |
Advanced |
SIM_ACC4_RND¶
Accel 4 motor noise factor
scaling factor for simulated vibration from motors
User level |
Advanced |
SIM_ACC4_SCAL_X¶
Accel 4 scaling factor
scaling factors applied to simulated accelerometer (X-axis)
User level |
Advanced |
SIM_ACC4_SCAL_Y¶
Accel 4 scaling factor
scaling factors applied to simulated accelerometer (Y-axis)
User level |
Advanced |
SIM_ACC4_SCAL_Z¶
Accel 4 scaling factor
scaling factors applied to simulated accelerometer (Z-axis)
User level |
Advanced |
SIM_ACC5_BIAS_X¶
Accel 5 bias
bias of simulated accelerometer sensor (X-axis)
User level |
Advanced |
SIM_ACC5_BIAS_Y¶
Accel 5 bias
bias of simulated accelerometer sensor (Y-axis)
User level |
Advanced |
SIM_ACC5_BIAS_Z¶
Accel 5 bias
bias of simulated accelerometer sensor (Z-axis)
User level |
Advanced |
SIM_ACC5_RND¶
Accel 5 motor noise factor
scaling factor for simulated vibration from motors
User level |
Advanced |
SIM_ACC5_SCAL_X¶
Accel 4 scaling factor
scaling factors applied to simulated accelerometer (X-axis)
User level |
Advanced |
SIM_ACC5_SCAL_Y¶
Accel 4 scaling factor
scaling factors applied to simulated accelerometer (Y-axis)
User level |
Advanced |
SIM_ACC5_SCAL_Z¶
Accel 4 scaling factor
scaling factors applied to simulated accelerometer (Z-axis)
User level |
Advanced |
SIM_ACCEL1_FAIL¶
ACCEL1 Failure
Simulated failure of ACCEL1
User level |
Advanced |
Values¶
Value |
Meaning |
|---|---|
|
Disabled |
|
ACCEL1 Failure |
SIM_ACCEL2_FAIL¶
ACCEL2 Failure
Simulated failure of ACCEL2
User level |
Advanced |
Values¶
Value |
Meaning |
|---|---|
|
Disabled |
|
ACCEL2 Failure |
SIM_ACCEL3_FAIL¶
ACCEL3 Failure
Simulated failure of ACCEL3
User level |
Advanced |
Values¶
Value |
Meaning |
|---|---|
|
Disabled |
|
ACCEL3 Failure |
SIM_ACCEL4_FAIL¶
ACCEL4 Failure
Simulated failure of ACCEL4
User level |
Advanced |
Values¶
Value |
Meaning |
|---|---|
|
Disabled |
|
ACCEL4 Failure |
SIM_ACCEL5_FAIL¶
ACCEL5 Failure
Simulated failure of ACCEL5
User level |
Advanced |
Values¶
Value |
Meaning |
|---|---|
|
Disabled |
|
ACCEL5 Failure |
SIM_ACC_FAIL_MSK¶
Accelerometer Failure Mask
Determines if the acclerometer reading updates are stopped when for an IMU simulated failure by ACCELx_FAIL params
User level |
Advanced |
Values¶
Value |
Meaning |
|---|---|
|
Disabled |
|
Readings stopped |
SIM_ACC_FILE_RW¶
Accelerometer data to/from files
Read and write accelerometer data to/from files
Values¶
Value |
Meaning |
|---|---|
|
Stop writing data |
|
Read data from file |
|
Write data to a file |
|
Read data from file and stop on EOF |
SIM_ACC_TRIM_X¶
Accelerometer trim
Trim applied to simulated accelerometer (X-axis)
User level |
Advanced |
SIM_ACC_TRIM_Y¶
Accelerometer trim
Trim applied to simulated accelerometer (Y-axis)
User level |
Advanced |
SIM_ACC_TRIM_Z¶
Accelerometer trim
Trim applied to simulated accelerometer (Z-axis)
User level |
Advanced |
SIM_ADSB_ALT¶
ADSB altitude of another aircraft
Simulated ADSB altitude of another aircraft
Units |
|
SIM_ADSB_COUNT¶
Number of ADSB aircrafts
Total number of ADSB simulated aircraft
SIM_ADSB_RADIUS¶
ADSB radius stddev of another aircraft
Simulated standard deviation of radius in ADSB of another aircraft
Units |
|
SIM_ADSB_TX¶
ADSB transmit enable
ADSB transceiever enable and disable
Values¶
Value |
Meaning |
|---|---|
|
Transceiever disable |
|
Transceiever enable |
SIM_ADSB_TYPES¶
Simulated ADSB Type mask
specifies which simulated ADSB types are active
User level |
Advanced |
Bitmask¶
Value |
Meaning |
|---|---|
|
MAVLink |
|
SageTechMXS |
SIM_BARO_COUNT¶
Baro count
Number of simulated baros to create in SITL
Range |
|
SIM_BATT_CAP_AH¶
Simulated battery capacity
Simulated battery capacity. Set to 0 for unlimited capacity. Changing this parameter will re-initialize the state of charge of the battery.
Units |
|
User level |
Advanced |
SIM_BATT_VOLTAGE¶
Simulated battery voltage
Simulated battery voltage. Constant voltage when SIM_BATT_CAP_AH is 0, otherwise changing this parameter will re-initialize the state of charge of the battery based on this voltage versus the battery’s maximum voltage (default is max voltage).
Units |
|
User level |
Advanced |
SIM_BAUDLIMIT_EN¶
Telemetry bandwidth limitting
SITL enable bandwidth limitting on telemetry ports with non-zero values
SIM_CAN_SRV_MSK¶
Mask of CAN servos/ESCs
The set of actuators controlled externally by CAN SITL AP_Periph
User level |
Advanced |
Bitmask¶
Value |
Meaning |
|---|---|
|
Servo 1 |
|
Servo 2 |
|
Servo 3 |
|
Servo 4 |
|
Servo 5 |
|
Servo 6 |
|
Servo 7 |
|
Servo 8 |
|
Servo 9 |
|
Servo 10 |
|
Servo 11 |
|
Servo 12 |
|
Servo 13 |
|
Servo 14 |
|
Servo 15 |
|
Servo 16 |
|
Servo 17 |
|
Servo 18 |
|
Servo 19 |
|
Servo 20 |
|
Servo 21 |
|
Servo 22 |
|
Servo 23 |
|
Servo 24 |
|
Servo 25 |
|
Servo 26 |
|
Servo 27 |
|
Servo 28 |
|
Servo 29 |
|
Servo 30 |
|
Servo 31 |
|
Servo 32 |
SIM_CAN_TYPE1¶
transport type for first CAN interface
transport type for first CAN interface
User level |
Advanced |
Values¶
Value |
Meaning |
|---|---|
|
None |
|
MulticastUDP |
|
SocketCAN |
SIM_CAN_TYPE2¶
transport type for second CAN interface
transport type for second CAN interface
User level |
Advanced |
Values¶
Value |
Meaning |
|---|---|
|
None |
|
MulticastUDP |
|
SocketCAN |
SIM_CLAMP_CH¶
Simulated Clamp Channel
If non-zero the vehicle will be clamped in position until the value on this servo channel passes 1800PWM
SIM_DRIFT_SPEED¶
Gyro drift speed
Gyro drift rate of change in degrees/second/minute
SIM_DRIFT_TIME¶
Gyro drift time
Gyro drift duration of one full drift cycle (period in minutes)
SIM_EFI_TYPE¶
Type of Electronic Fuel Injection
Different types of Electronic Fuel Injection (EFI) systems
Values¶
Value |
Meaning |
|---|---|
|
None |
|
MegaSquirt EFI system |
|
Löweheiser EFI system |
|
Hirth engines |
SIM_ENGINE_FAIL¶
Engine Fail Mask
mask of motors which SIM_ENGINE_MUL will be applied to
Bitmask¶
Value |
Meaning |
|---|---|
|
Servo 1 |
|
Servo 2 |
|
Servo 3 |
|
Servo 4 |
|
Servo 5 |
|
Servo 6 |
|
Servo 7 |
|
Servo 8 |
|
Servo 9 |
|
Servo 10 |
|
Servo 11 |
|
Servo 12 |
|
Servo 13 |
|
Servo 14 |
|
Servo 15 |
|
Servo 16 |
|
Servo 17 |
|
Servo 18 |
|
Servo 19 |
|
Servo 20 |
|
Servo 21 |
|
Servo 22 |
|
Servo 23 |
|
Servo 24 |
|
Servo 25 |
|
Servo 26 |
|
Servo 27 |
|
Servo 28 |
|
Servo 29 |
|
Servo 30 |
|
Servo 31 |
|
Servo 32 |
SIM_ENGINE_MUL¶
Engine failure thrust scaler
Thrust from Motors in SIM_ENGINE_FAIL will be multiplied by this factor
Range |
|
SIM_ESC_ARM_RPM¶
ESC RPM when armed
Simulated RPM when motors are armed
User level |
Advanced |
SIM_ESC_TELEM¶
Simulated ESC Telemetry
enable perfect simulated ESC telemetry
User level |
Advanced |
SIM_FLOAT_EXCEPT¶
Generate floating point exceptions
If set, if a numerical error occurs SITL will die with a floating point exception.
User level |
Advanced |
SIM_FLOW_DELAY¶
Opflow Delay
Opflow data delay
Units |
|
SIM_FLOW_ENABLE¶
Opflow Enable
Enable simulated Optical Flow sensor
Values¶
Value |
Meaning |
|---|---|
|
Disable |
|
Enabled |
SIM_FLOW_POS_X¶
Opflow Pos
XYZ position of the optical flow sensor focal point relative to the body frame origin (X-axis)
Units |
|
SIM_FLOW_POS_Y¶
Opflow Pos
XYZ position of the optical flow sensor focal point relative to the body frame origin (Y-axis)
Units |
|
SIM_FLOW_POS_Z¶
Opflow Pos
XYZ position of the optical flow sensor focal point relative to the body frame origin (Z-axis)
Units |
|
SIM_FLOW_RATE¶
Opflow Rate
Opflow Data Rate
Units |
|
SIM_FLOW_RND¶
Opflow noise
Optical Flow sensor measurement noise
Units |
|
SIM_GND_BEHAV¶
Ground behavior
Ground behavior of aircraft (tailsitter, no movement, forward only)
SIM_GPS_LOG_NUM¶
GPS Log Number
Log number for GPS:update_file()
SIM_GYR1_BIAS_X¶
First Gyro bias
First Gyro bias (X-axis)
Units |
|
User level |
Advanced |
SIM_GYR1_BIAS_Y¶
First Gyro bias
First Gyro bias (Y-axis)
Units |
|
User level |
Advanced |
SIM_GYR1_BIAS_Z¶
First Gyro bias
First Gyro bias (Z-axis)
Units |
|
User level |
Advanced |
SIM_GYR1_RND¶
Gyro 1 motor noise factor
scaling factor for simulated vibration from motors
User level |
Advanced |
SIM_GYR1_SCALE_X¶
Gyro 1 scaling factor
scaling factors applied to simulated gyroscope (X-axis)
User level |
Advanced |
SIM_GYR1_SCALE_Y¶
Gyro 1 scaling factor
scaling factors applied to simulated gyroscope (Y-axis)
User level |
Advanced |
SIM_GYR1_SCALE_Z¶
Gyro 1 scaling factor
scaling factors applied to simulated gyroscope (Z-axis)
User level |
Advanced |
SIM_GYR2_BIAS_X¶
Second Gyro bias
Second Gyro bias (X-axis)
Units |
|
User level |
Advanced |
SIM_GYR2_BIAS_Y¶
Second Gyro bias
Second Gyro bias (Y-axis)
Units |
|
User level |
Advanced |
SIM_GYR2_BIAS_Z¶
Second Gyro bias
Second Gyro bias (Z-axis)
Units |
|
User level |
Advanced |
SIM_GYR2_RND¶
Gyro 2 motor noise factor
scaling factor for simulated vibration from motors
User level |
Advanced |
SIM_GYR2_SCALE_X¶
Gyro 2 scaling factor
scaling factors applied to simulated gyroscope (X-axis)
User level |
Advanced |
SIM_GYR2_SCALE_Y¶
Gyro 2 scaling factor
scaling factors applied to simulated gyroscope (Y-axis)
User level |
Advanced |
SIM_GYR2_SCALE_Z¶
Gyro 2 scaling factor
scaling factors applied to simulated gyroscope (Z-axis)
User level |
Advanced |
SIM_GYR3_BIAS_X¶
Third Gyro bias
Third Gyro bias (X-axis)
Units |
|
User level |
Advanced |
SIM_GYR3_BIAS_Y¶
Third Gyro bias
Third Gyro bias (Y-axis)
Units |
|
User level |
Advanced |
SIM_GYR3_BIAS_Z¶
Third Gyro bias
Third Gyro bias (Z-axis)
Units |
|
User level |
Advanced |
SIM_GYR3_RND¶
Gyro 3 motor noise factor
scaling factor for simulated vibration from motors
User level |
Advanced |
SIM_GYR3_SCALE_X¶
Gyro 3 scaling factor
scaling factors applied to simulated gyroscope (X-axis)
User level |
Advanced |
SIM_GYR3_SCALE_Y¶
Gyro 3 scaling factor
scaling factors applied to simulated gyroscope (Y-axis)
User level |
Advanced |
SIM_GYR3_SCALE_Z¶
Gyro 3 scaling factor
scaling factors applied to simulated gyroscope (Z-axis)
User level |
Advanced |
SIM_GYR4_BIAS_X¶
Fourth Gyro bias
Fourth Gyro bias (X-axis)
Units |
|
User level |
Advanced |
SIM_GYR4_BIAS_Y¶
Fourth Gyro bias
Fourth Gyro bias (Y-axis)
Units |
|
User level |
Advanced |
SIM_GYR4_BIAS_Z¶
Fourth Gyro bias
Fourth Gyro bias (Z-axis)
Units |
|
User level |
Advanced |
SIM_GYR4_RND¶
Gyro 4 motor noise factor
scaling factor for simulated vibration from motors
User level |
Advanced |
SIM_GYR4_SCALE_X¶
Gyro 4 scaling factor
scaling factors applied to simulated gyroscope (X-axis)
User level |
Advanced |
SIM_GYR4_SCALE_Y¶
Gyro 4 scaling factor
scaling factors applied to simulated gyroscope (Y-axis)
User level |
Advanced |
SIM_GYR4_SCALE_Z¶
Gyro 4 scaling factor
scaling factors applied to simulated gyroscope (Z-axis)
User level |
Advanced |
SIM_GYR5_BIAS_X¶
Fifth Gyro bias
Fifth Gyro bias (X-axis)
Units |
|
User level |
Advanced |
SIM_GYR5_BIAS_Y¶
Fifth Gyro bias
Fifth Gyro bias (Y-axis)
Units |
|
User level |
Advanced |
SIM_GYR5_BIAS_Z¶
Fifth Gyro bias
Fifth Gyro bias (Z-axis)
Units |
|
User level |
Advanced |
SIM_GYR5_RND¶
Gyro 5 motor noise factor
scaling factor for simulated vibration from motors
User level |
Advanced |
SIM_GYR5_SCALE_X¶
Gyro 5 scaling factor
scaling factors applied to simulated gyroscope (X-axis)
User level |
Advanced |
SIM_GYR5_SCALE_Y¶
Gyro 5 scaling factor
scaling factors applied to simulated gyroscope (Y-axis)
User level |
Advanced |
SIM_GYR5_SCALE_Z¶
Gyro 5 scaling factor
scaling factors applied to simulated gyroscope (Z-axis)
User level |
Advanced |
SIM_GYR_FAIL_MSK¶
Gyro Failure Mask
Determines if the gyro reading updates are stopped when for an IMU simulated failure by ACCELx_FAIL params
User level |
Advanced |
Values¶
Value |
Meaning |
|---|---|
|
Disabled |
|
Readings stopped |
SIM_GYR_FILE_RW¶
Gyro data to/from files
Read and write gyro data to/from files
Values¶
Value |
Meaning |
|---|---|
|
Stop writing data |
|
Read data from file |
|
Write data to a file |
|
Read data from file and stop on EOF |
SIM_IMUT1_ACC1_X¶
Applied simulated acceleration to accelerometer
This is the applied simulated acceleration to the 1st accelerometer (X-axis)
User level |
Advanced |
SIM_IMUT1_ACC1_Y¶
Applied simulated acceleration to accelerometer
This is the applied simulated acceleration to the 1st accelerometer (Y-axis)
User level |
Advanced |
SIM_IMUT1_ACC1_Z¶
Applied simulated acceleration to accelerometer
This is the applied simulated acceleration to the 1st accelerometer (Z-axis)
User level |
Advanced |
SIM_IMUT1_ACC2_X¶
Applied simulated acceleration to accelerometer
This is the applied simulated acceleration to the 2nd accelerometer (X-axis)
User level |
Advanced |
SIM_IMUT1_ACC2_Y¶
Applied simulated acceleration to accelerometer
This is the applied simulated acceleration to the 2nd accelerometer (Y-axis)
User level |
Advanced |
SIM_IMUT1_ACC2_Z¶
Applied simulated acceleration to accelerometer
This is the applied simulated acceleration to the 2nd accelerometer (Z-axis)
User level |
Advanced |
SIM_IMUT1_ACC3_X¶
Applied simulated acceleration to accelerometer
This is the applied simulated acceleration to the 3rd accelerometer (X-axis)
User level |
Advanced |
SIM_IMUT1_ACC3_Y¶
Applied simulated acceleration to accelerometer
This is the applied simulated acceleration to the 3rd accelerometer (Y-axis)
User level |
Advanced |
SIM_IMUT1_ACC3_Z¶
Applied simulated acceleration to accelerometer
This is the applied simulated acceleration to the 3rd accelerometer (Z-axis)
User level |
Advanced |
SIM_IMUT1_ENABLE¶
Enable simulated temperature disturbance for sensor data
Enable the injection of temperature disturbance to the accelerometer and gyroscope data to simulate temperature calibration
User level |
Advanced |
Values¶
Value |
Meaning |
|---|---|
|
Disable |
|
Enabled |
|
Learn Calibration |
SIM_IMUT1_GYR1_X¶
Applied simulated angular rate to gyroscope
This is the applied simulated angular rate to the 1st gyroscope (X-axis)
User level |
Advanced |
SIM_IMUT1_GYR1_Y¶
Applied simulated angular rate to gyroscope
This is the applied simulated angular rate to the 1st gyroscope (Y-axis)
User level |
Advanced |
SIM_IMUT1_GYR1_Z¶
Applied simulated angular rate to gyroscope
This is the applied simulated angular rate to the 1st gyroscope (Z-axis)
User level |
Advanced |
SIM_IMUT1_GYR2_X¶
Applied simulated angular rate to gyroscope
This is the applied simulated angular rate to the 2nd gyroscope (X-axis)
User level |
Advanced |
SIM_IMUT1_GYR2_Y¶
Applied simulated angular rate to gyroscope
This is the applied simulated angular rate to the 2nd gyroscope (Y-axis)
User level |
Advanced |
SIM_IMUT1_GYR2_Z¶
Applied simulated angular rate to gyroscope
This is the applied simulated angular rate to the 2nd gyroscope (Z-axis)
User level |
Advanced |
SIM_IMUT1_GYR3_X¶
Applied simulated angular rate to gyroscope
This is the applied simulated angular rate to the 3rd gyroscope (X-axis)
User level |
Advanced |
SIM_IMUT1_GYR3_Y¶
Applied simulated angular rate to gyroscope
This is the applied simulated angular rate to the 3rd gyroscope (Y-axis)
User level |
Advanced |
SIM_IMUT1_GYR3_Z¶
Applied simulated angular rate to gyroscope
This is the applied simulated angular rate to the 3rd gyroscope (Z-axis)
User level |
Advanced |
SIM_IMUT1_TMAX¶
Simulated temperature calibration max
The maximum simulated temperature that the calibration is valid for. This must be at least 10 degrees above TMIN for calibration
Units |
|
Range |
|
User level |
Advanced |
SIM_IMUT1_TMIN¶
Simulated temperature calibration min
The minimum simulated temperature that the calibration is valid for
Units |
|
Range |
|
User level |
Advanced |
SIM_IMUT2_ACC1_X¶
Applied simulated acceleration to accelerometer
This is the applied simulated acceleration to the 1st accelerometer (X-axis)
User level |
Advanced |
SIM_IMUT2_ACC1_Y¶
Applied simulated acceleration to accelerometer
This is the applied simulated acceleration to the 1st accelerometer (Y-axis)
User level |
Advanced |
SIM_IMUT2_ACC1_Z¶
Applied simulated acceleration to accelerometer
This is the applied simulated acceleration to the 1st accelerometer (Z-axis)
User level |
Advanced |
SIM_IMUT2_ACC2_X¶
Applied simulated acceleration to accelerometer
This is the applied simulated acceleration to the 2nd accelerometer (X-axis)
User level |
Advanced |
SIM_IMUT2_ACC2_Y¶
Applied simulated acceleration to accelerometer
This is the applied simulated acceleration to the 2nd accelerometer (Y-axis)
User level |
Advanced |
SIM_IMUT2_ACC2_Z¶
Applied simulated acceleration to accelerometer
This is the applied simulated acceleration to the 2nd accelerometer (Z-axis)
User level |
Advanced |
SIM_IMUT2_ACC3_X¶
Applied simulated acceleration to accelerometer
This is the applied simulated acceleration to the 3rd accelerometer (X-axis)
User level |
Advanced |
SIM_IMUT2_ACC3_Y¶
Applied simulated acceleration to accelerometer
This is the applied simulated acceleration to the 3rd accelerometer (Y-axis)
User level |
Advanced |
SIM_IMUT2_ACC3_Z¶
Applied simulated acceleration to accelerometer
This is the applied simulated acceleration to the 3rd accelerometer (Z-axis)
User level |
Advanced |
SIM_IMUT2_ENABLE¶
Enable simulated temperature disturbance for sensor data
Enable the injection of temperature disturbance to the accelerometer and gyroscope data to simulate temperature calibration
User level |
Advanced |
Values¶
Value |
Meaning |
|---|---|
|
Disable |
|
Enabled |
|
Learn Calibration |
SIM_IMUT2_GYR1_X¶
Applied simulated angular rate to gyroscope
This is the applied simulated angular rate to the 1st gyroscope (X-axis)
User level |
Advanced |
SIM_IMUT2_GYR1_Y¶
Applied simulated angular rate to gyroscope
This is the applied simulated angular rate to the 1st gyroscope (Y-axis)
User level |
Advanced |
SIM_IMUT2_GYR1_Z¶
Applied simulated angular rate to gyroscope
This is the applied simulated angular rate to the 1st gyroscope (Z-axis)
User level |
Advanced |
SIM_IMUT2_GYR2_X¶
Applied simulated angular rate to gyroscope
This is the applied simulated angular rate to the 2nd gyroscope (X-axis)
User level |
Advanced |
SIM_IMUT2_GYR2_Y¶
Applied simulated angular rate to gyroscope
This is the applied simulated angular rate to the 2nd gyroscope (Y-axis)
User level |
Advanced |
SIM_IMUT2_GYR2_Z¶
Applied simulated angular rate to gyroscope
This is the applied simulated angular rate to the 2nd gyroscope (Z-axis)
User level |
Advanced |
SIM_IMUT2_GYR3_X¶
Applied simulated angular rate to gyroscope
This is the applied simulated angular rate to the 3rd gyroscope (X-axis)
User level |
Advanced |
SIM_IMUT2_GYR3_Y¶
Applied simulated angular rate to gyroscope
This is the applied simulated angular rate to the 3rd gyroscope (Y-axis)
User level |
Advanced |
SIM_IMUT2_GYR3_Z¶
Applied simulated angular rate to gyroscope
This is the applied simulated angular rate to the 3rd gyroscope (Z-axis)
User level |
Advanced |
SIM_IMUT2_TMAX¶
Simulated temperature calibration max
The maximum simulated temperature that the calibration is valid for. This must be at least 10 degrees above TMIN for calibration
Units |
|
Range |
|
User level |
Advanced |
SIM_IMUT2_TMIN¶
Simulated temperature calibration min
The minimum simulated temperature that the calibration is valid for
Units |
|
Range |
|
User level |
Advanced |
SIM_IMUT3_ACC1_X¶
Applied simulated acceleration to accelerometer
This is the applied simulated acceleration to the 1st accelerometer (X-axis)
User level |
Advanced |
SIM_IMUT3_ACC1_Y¶
Applied simulated acceleration to accelerometer
This is the applied simulated acceleration to the 1st accelerometer (Y-axis)
User level |
Advanced |
SIM_IMUT3_ACC1_Z¶
Applied simulated acceleration to accelerometer
This is the applied simulated acceleration to the 1st accelerometer (Z-axis)
User level |
Advanced |
SIM_IMUT3_ACC2_X¶
Applied simulated acceleration to accelerometer
This is the applied simulated acceleration to the 2nd accelerometer (X-axis)
User level |
Advanced |
SIM_IMUT3_ACC2_Y¶
Applied simulated acceleration to accelerometer
This is the applied simulated acceleration to the 2nd accelerometer (Y-axis)
User level |
Advanced |
SIM_IMUT3_ACC2_Z¶
Applied simulated acceleration to accelerometer
This is the applied simulated acceleration to the 2nd accelerometer (Z-axis)
User level |
Advanced |
SIM_IMUT3_ACC3_X¶
Applied simulated acceleration to accelerometer
This is the applied simulated acceleration to the 3rd accelerometer (X-axis)
User level |
Advanced |
SIM_IMUT3_ACC3_Y¶
Applied simulated acceleration to accelerometer
This is the applied simulated acceleration to the 3rd accelerometer (Y-axis)
User level |
Advanced |
SIM_IMUT3_ACC3_Z¶
Applied simulated acceleration to accelerometer
This is the applied simulated acceleration to the 3rd accelerometer (Z-axis)
User level |
Advanced |
SIM_IMUT3_ENABLE¶
Enable simulated temperature disturbance for sensor data
Enable the injection of temperature disturbance to the accelerometer and gyroscope data to simulate temperature calibration
User level |
Advanced |
Values¶
Value |
Meaning |
|---|---|
|
Disable |
|
Enabled |
|
Learn Calibration |
SIM_IMUT3_GYR1_X¶
Applied simulated angular rate to gyroscope
This is the applied simulated angular rate to the 1st gyroscope (X-axis)
User level |
Advanced |
SIM_IMUT3_GYR1_Y¶
Applied simulated angular rate to gyroscope
This is the applied simulated angular rate to the 1st gyroscope (Y-axis)
User level |
Advanced |
SIM_IMUT3_GYR1_Z¶
Applied simulated angular rate to gyroscope
This is the applied simulated angular rate to the 1st gyroscope (Z-axis)
User level |
Advanced |
SIM_IMUT3_GYR2_X¶
Applied simulated angular rate to gyroscope
This is the applied simulated angular rate to the 2nd gyroscope (X-axis)
User level |
Advanced |
SIM_IMUT3_GYR2_Y¶
Applied simulated angular rate to gyroscope
This is the applied simulated angular rate to the 2nd gyroscope (Y-axis)
User level |
Advanced |
SIM_IMUT3_GYR2_Z¶
Applied simulated angular rate to gyroscope
This is the applied simulated angular rate to the 2nd gyroscope (Z-axis)
User level |
Advanced |
SIM_IMUT3_GYR3_X¶
Applied simulated angular rate to gyroscope
This is the applied simulated angular rate to the 3rd gyroscope (X-axis)
User level |
Advanced |
SIM_IMUT3_GYR3_Y¶
Applied simulated angular rate to gyroscope
This is the applied simulated angular rate to the 3rd gyroscope (Y-axis)
User level |
Advanced |
SIM_IMUT3_GYR3_Z¶
Applied simulated angular rate to gyroscope
This is the applied simulated angular rate to the 3rd gyroscope (Z-axis)
User level |
Advanced |
SIM_IMUT3_TMAX¶
Simulated temperature calibration max
The maximum simulated temperature that the calibration is valid for. This must be at least 10 degrees above TMIN for calibration
Units |
|
Range |
|
User level |
Advanced |
SIM_IMUT3_TMIN¶
Simulated temperature calibration min
The minimum simulated temperature that the calibration is valid for
Units |
|
Range |
|
User level |
Advanced |
SIM_IMUT4_ACC1_X¶
Applied simulated acceleration to accelerometer
This is the applied simulated acceleration to the 1st accelerometer (X-axis)
User level |
Advanced |
SIM_IMUT4_ACC1_Y¶
Applied simulated acceleration to accelerometer
This is the applied simulated acceleration to the 1st accelerometer (Y-axis)
User level |
Advanced |
SIM_IMUT4_ACC1_Z¶
Applied simulated acceleration to accelerometer
This is the applied simulated acceleration to the 1st accelerometer (Z-axis)
User level |
Advanced |
SIM_IMUT4_ACC2_X¶
Applied simulated acceleration to accelerometer
This is the applied simulated acceleration to the 2nd accelerometer (X-axis)
User level |
Advanced |
SIM_IMUT4_ACC2_Y¶
Applied simulated acceleration to accelerometer
This is the applied simulated acceleration to the 2nd accelerometer (Y-axis)
User level |
Advanced |
SIM_IMUT4_ACC2_Z¶
Applied simulated acceleration to accelerometer
This is the applied simulated acceleration to the 2nd accelerometer (Z-axis)
User level |
Advanced |
SIM_IMUT4_ACC3_X¶
Applied simulated acceleration to accelerometer
This is the applied simulated acceleration to the 3rd accelerometer (X-axis)
User level |
Advanced |
SIM_IMUT4_ACC3_Y¶
Applied simulated acceleration to accelerometer
This is the applied simulated acceleration to the 3rd accelerometer (Y-axis)
User level |
Advanced |
SIM_IMUT4_ACC3_Z¶
Applied simulated acceleration to accelerometer
This is the applied simulated acceleration to the 3rd accelerometer (Z-axis)
User level |
Advanced |
SIM_IMUT4_ENABLE¶
Enable simulated temperature disturbance for sensor data
Enable the injection of temperature disturbance to the accelerometer and gyroscope data to simulate temperature calibration
User level |
Advanced |
Values¶
Value |
Meaning |
|---|---|
|
Disable |
|
Enabled |
|
Learn Calibration |
SIM_IMUT4_GYR1_X¶
Applied simulated angular rate to gyroscope
This is the applied simulated angular rate to the 1st gyroscope (X-axis)
User level |
Advanced |
SIM_IMUT4_GYR1_Y¶
Applied simulated angular rate to gyroscope
This is the applied simulated angular rate to the 1st gyroscope (Y-axis)
User level |
Advanced |
SIM_IMUT4_GYR1_Z¶
Applied simulated angular rate to gyroscope
This is the applied simulated angular rate to the 1st gyroscope (Z-axis)
User level |
Advanced |
SIM_IMUT4_GYR2_X¶
Applied simulated angular rate to gyroscope
This is the applied simulated angular rate to the 2nd gyroscope (X-axis)
User level |
Advanced |
SIM_IMUT4_GYR2_Y¶
Applied simulated angular rate to gyroscope
This is the applied simulated angular rate to the 2nd gyroscope (Y-axis)
User level |
Advanced |
SIM_IMUT4_GYR2_Z¶
Applied simulated angular rate to gyroscope
This is the applied simulated angular rate to the 2nd gyroscope (Z-axis)
User level |
Advanced |
SIM_IMUT4_GYR3_X¶
Applied simulated angular rate to gyroscope
This is the applied simulated angular rate to the 3rd gyroscope (X-axis)
User level |
Advanced |
SIM_IMUT4_GYR3_Y¶
Applied simulated angular rate to gyroscope
This is the applied simulated angular rate to the 3rd gyroscope (Y-axis)
User level |
Advanced |
SIM_IMUT4_GYR3_Z¶
Applied simulated angular rate to gyroscope
This is the applied simulated angular rate to the 3rd gyroscope (Z-axis)
User level |
Advanced |
SIM_IMUT4_TMAX¶
Simulated temperature calibration max
The maximum simulated temperature that the calibration is valid for. This must be at least 10 degrees above TMIN for calibration
Units |
|
Range |
|
User level |
Advanced |
SIM_IMUT4_TMIN¶
Simulated temperature calibration min
The minimum simulated temperature that the calibration is valid for
Units |
|
Range |
|
User level |
Advanced |
SIM_IMUT5_ACC1_X¶
Applied simulated acceleration to accelerometer
This is the applied simulated acceleration to the 1st accelerometer (X-axis)
User level |
Advanced |
SIM_IMUT5_ACC1_Y¶
Applied simulated acceleration to accelerometer
This is the applied simulated acceleration to the 1st accelerometer (Y-axis)
User level |
Advanced |
SIM_IMUT5_ACC1_Z¶
Applied simulated acceleration to accelerometer
This is the applied simulated acceleration to the 1st accelerometer (Z-axis)
User level |
Advanced |
SIM_IMUT5_ACC2_X¶
Applied simulated acceleration to accelerometer
This is the applied simulated acceleration to the 2nd accelerometer (X-axis)
User level |
Advanced |
SIM_IMUT5_ACC2_Y¶
Applied simulated acceleration to accelerometer
This is the applied simulated acceleration to the 2nd accelerometer (Y-axis)
User level |
Advanced |
SIM_IMUT5_ACC2_Z¶
Applied simulated acceleration to accelerometer
This is the applied simulated acceleration to the 2nd accelerometer (Z-axis)
User level |
Advanced |
SIM_IMUT5_ACC3_X¶
Applied simulated acceleration to accelerometer
This is the applied simulated acceleration to the 3rd accelerometer (X-axis)
User level |
Advanced |
SIM_IMUT5_ACC3_Y¶
Applied simulated acceleration to accelerometer
This is the applied simulated acceleration to the 3rd accelerometer (Y-axis)
User level |
Advanced |
SIM_IMUT5_ACC3_Z¶
Applied simulated acceleration to accelerometer
This is the applied simulated acceleration to the 3rd accelerometer (Z-axis)
User level |
Advanced |
SIM_IMUT5_ENABLE¶
Enable simulated temperature disturbance for sensor data
Enable the injection of temperature disturbance to the accelerometer and gyroscope data to simulate temperature calibration
User level |
Advanced |
Values¶
Value |
Meaning |
|---|---|
|
Disable |
|
Enabled |
|
Learn Calibration |
SIM_IMUT5_GYR1_X¶
Applied simulated angular rate to gyroscope
This is the applied simulated angular rate to the 1st gyroscope (X-axis)
User level |
Advanced |
SIM_IMUT5_GYR1_Y¶
Applied simulated angular rate to gyroscope
This is the applied simulated angular rate to the 1st gyroscope (Y-axis)
User level |
Advanced |
SIM_IMUT5_GYR1_Z¶
Applied simulated angular rate to gyroscope
This is the applied simulated angular rate to the 1st gyroscope (Z-axis)
User level |
Advanced |
SIM_IMUT5_GYR2_X¶
Applied simulated angular rate to gyroscope
This is the applied simulated angular rate to the 2nd gyroscope (X-axis)
User level |
Advanced |
SIM_IMUT5_GYR2_Y¶
Applied simulated angular rate to gyroscope
This is the applied simulated angular rate to the 2nd gyroscope (Y-axis)
User level |
Advanced |
SIM_IMUT5_GYR2_Z¶
Applied simulated angular rate to gyroscope
This is the applied simulated angular rate to the 2nd gyroscope (Z-axis)
User level |
Advanced |
SIM_IMUT5_GYR3_X¶
Applied simulated angular rate to gyroscope
This is the applied simulated angular rate to the 3rd gyroscope (X-axis)
User level |
Advanced |
SIM_IMUT5_GYR3_Y¶
Applied simulated angular rate to gyroscope
This is the applied simulated angular rate to the 3rd gyroscope (Y-axis)
User level |
Advanced |
SIM_IMUT5_GYR3_Z¶
Applied simulated angular rate to gyroscope
This is the applied simulated angular rate to the 3rd gyroscope (Z-axis)
User level |
Advanced |
SIM_IMUT5_TMAX¶
Simulated temperature calibration max
The maximum simulated temperature that the calibration is valid for. This must be at least 10 degrees above TMIN for calibration
Units |
|
Range |
|
User level |
Advanced |
SIM_IMUT5_TMIN¶
Simulated temperature calibration min
The minimum simulated temperature that the calibration is valid for
Units |
|
Range |
|
User level |
Advanced |
SIM_IMUT_END¶
IMU temperature end
Ending IMU temperature of a curve
SIM_IMUT_FIXED¶
IMU fixed temperature
IMU fixed temperature by user
SIM_IMUT_START¶
IMU temperature start
Starting IMU temperature of a curve
SIM_IMUT_TCONST¶
IMU temperature time constant
IMU temperature time constant of the curve
SIM_IMU_COUNT¶
IMU count
Number of simulated IMUs to create
SIM_IMU_ORIENT¶
IMU orientation
Simulated orientation of the IMUs
User level |
Advanced |
Values¶
Value |
Meaning |
|---|---|
|
None |
|
Yaw45 |
|
Yaw90 |
|
Yaw135 |
|
Yaw180 |
|
Yaw225 |
|
Yaw270 |
|
Yaw315 |
|
Roll180 |
|
Yaw45Roll180 |
|
Yaw90Roll180 |
|
Yaw135Roll180 |
|
Pitch180 |
|
Yaw225Roll180 |
|
Yaw270Roll180 |
|
Yaw315Roll180 |
|
Roll90 |
|
Yaw45Roll90 |
|
Yaw90Roll90 |
|
Yaw135Roll90 |
|
Roll270 |
|
Yaw45Roll270 |
|
Yaw90Roll270 |
|
Yaw135Roll270 |
|
Pitch90 |
|
Pitch270 |
|
Yaw90Pitch180 |
|
Yaw270Pitch180 |
|
Pitch90Roll90 |
|
Pitch90Roll180 |
|
Pitch90Roll270 |
|
Pitch180Roll90 |
|
Pitch180Roll270 |
|
Pitch270Roll90 |
|
Pitch270Roll180 |
|
Pitch270Roll270 |
|
Yaw90Pitch180Roll90 |
|
Yaw270Roll90 |
|
Yaw293Pitch68Roll180 |
|
Pitch315 |
|
Pitch315Roll90 |
|
Roll45 |
|
Roll315 |
|
Custom 4.1 and older |
|
Custom 1 |
|
Custom 2 |
SIM_IMU_POS_X¶
IMU Offsets
XYZ position of the IMU accelerometer relative to the body frame origin (X-axis)
Units |
|
SIM_IMU_POS_Y¶
IMU Offsets
XYZ position of the IMU accelerometer relative to the body frame origin (Y-axis)
Units |
|
SIM_IMU_POS_Z¶
IMU Offsets
XYZ position of the IMU accelerometer relative to the body frame origin (Z-axis)
Units |
|
SIM_INIT_ALT_OFS¶
Initial Altitude Offset
GPS initial alt offset from origin
SIM_INIT_LAT_OFS¶
Initial Latitude Offset
GPS initial lat offset from origin
SIM_INIT_LON_OFS¶
Initial Longitude Offset
GPS initial lon offset from origin
SIM_INS_THR_MIN¶
Minimum throttle INS noise
Minimum throttle for simulated ins noise
SIM_JSON_MASTER¶
JSON master instance
the instance number to take servos from
SIM_LED_LAYOUT¶
LED layout
LED layout config value
SIM_LOOP_DELAY¶
Extra delay per main loop
Extra time delay per main loop
Units |
|
SIM_MAG1_DEVID¶
MAG1 Device ID
Device ID of simulated compass 1
User level |
Advanced |
SIM_MAG1_DIA_X¶
Magnetometer soft-iron diagonal X component
DIA_X in the magnetometer soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]
User level |
Advanced |
SIM_MAG1_DIA_Y¶
Magnetometer soft-iron diagonal Y component
DIA_Y in the magnetometer soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]
User level |
Advanced |
SIM_MAG1_DIA_Z¶
Magnetometer soft-iron diagonal Z component
DIA_Z in the magnetometer soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]
User level |
Advanced |
SIM_MAG1_FAIL¶
MAG1 Failure
Simulated failure of MAG1
User level |
Advanced |
Values¶
Value |
Meaning |
|---|---|
|
Disabled |
|
MAG1 Failure |
SIM_MAG1_ODI_X¶
Magnetometer soft-iron off-diagonal X component
ODI_X in the magnetometer soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]
User level |
Advanced |
SIM_MAG1_ODI_Y¶
Magnetometer soft-iron off-diagonal Y component
ODI_Y in the magnetometer soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]
User level |
Advanced |
SIM_MAG1_ODI_Z¶
Magnetometer soft-iron off-diagonal Z component
ODI_Z in the magnetometer soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]
User level |
Advanced |
SIM_MAG1_OFS_X¶
Magnetometer offset applied to SITL
Magnetometer offset injected into the simulation (X-axis)
User level |
Advanced |
SIM_MAG1_OFS_Y¶
Magnetometer offset applied to SITL
Magnetometer offset injected into the simulation (Y-axis)
User level |
Advanced |
SIM_MAG1_OFS_Z¶
Magnetometer offset applied to SITL
Magnetometer offset injected into the simulation (Z-axis)
User level |
Advanced |
SIM_MAG1_ORIENT¶
MAG1 Orientation
MAG1 external compass orientation
User level |
Advanced |
SIM_MAG1_SCALING¶
MAG1 Scaling factor
Scale the compass 1 to simulate sensor scale factor errors
User level |
Advanced |
SIM_MAG2_DEVID¶
MAG2 Device ID
Device ID of simulated compass 2
User level |
Advanced |
SIM_MAG2_DIA_X¶
Magnetometer soft-iron diagonal X component
DIA_X in the magnetometer soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]
User level |
Advanced |
SIM_MAG2_DIA_Y¶
Magnetometer soft-iron diagonal Y component
DIA_Y in the magnetometer soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]
User level |
Advanced |
SIM_MAG2_DIA_Z¶
Magnetometer soft-iron diagonal Z component
DIA_Z in the magnetometer soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]
User level |
Advanced |
SIM_MAG2_FAIL¶
MAG2 Failure
Simulated failure of MAG2
User level |
Advanced |
Values¶
Value |
Meaning |
|---|---|
|
Disabled |
|
MAG2 Failure |
SIM_MAG2_ODI_X¶
Magnetometer soft-iron off-diagonal X component
ODI_X in the magnetometer soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]
User level |
Advanced |
SIM_MAG2_ODI_Y¶
Magnetometer soft-iron off-diagonal Y component
ODI_Y in the magnetometer soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]
User level |
Advanced |
SIM_MAG2_ODI_Z¶
Magnetometer soft-iron off-diagonal Z component
ODI_Z in the magnetometer soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]
User level |
Advanced |
SIM_MAG2_OFS_X¶
Magnetometer offset applied to SITL
Magnetometer offset injected into the simulation (X-axis)
User level |
Advanced |
SIM_MAG2_OFS_Y¶
Magnetometer offset applied to SITL
Magnetometer offset injected into the simulation (Y-axis)
User level |
Advanced |
SIM_MAG2_OFS_Z¶
Magnetometer offset applied to SITL
Magnetometer offset injected into the simulation (Z-axis)
User level |
Advanced |
SIM_MAG2_ORIENT¶
MAG2 Orientation
MAG2 external compass orientation
User level |
Advanced |
SIM_MAG2_SCALING¶
MAG2 Scaling factor
Scale the compass 2 to simulate sensor scale factor errors
User level |
Advanced |
SIM_MAG3_DEVID¶
MAG3 Device ID
Device ID of simulated compass 3
User level |
Advanced |
SIM_MAG3_DIA_X¶
Magnetometer soft-iron diagonal X component
DIA_X in the magnetometer soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]
User level |
Advanced |
SIM_MAG3_DIA_Y¶
Magnetometer soft-iron diagonal Y component
DIA_Y in the magnetometer soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]
User level |
Advanced |
SIM_MAG3_DIA_Z¶
Magnetometer soft-iron diagonal Z component
DIA_Z in the magnetometer soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]
User level |
Advanced |
SIM_MAG3_FAIL¶
MAG3 Failure
Simulated failure of MAG3
User level |
Advanced |
Values¶
Value |
Meaning |
|---|---|
|
Disabled |
|
MAG3 Failure |
SIM_MAG3_ODI_X¶
Magnetometer soft-iron off-diagonal X component
ODI_X in the magnetometer soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]
User level |
Advanced |
SIM_MAG3_ODI_Y¶
Magnetometer soft-iron off-diagonal Y component
ODI_Y in the magnetometer soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]
User level |
Advanced |
SIM_MAG3_ODI_Z¶
Magnetometer soft-iron off-diagonal Z component
ODI_Z in the magnetometer soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]
User level |
Advanced |
SIM_MAG3_OFS_X¶
Magnetometer offset applied to SITL
Magnetometer offset injected into the simulation (X-axis)
User level |
Advanced |
SIM_MAG3_OFS_Y¶
Magnetometer offset applied to SITL
Magnetometer offset injected into the simulation (Y-axis)
User level |
Advanced |
SIM_MAG3_OFS_Z¶
Magnetometer offset applied to SITL
Magnetometer offset injected into the simulation (Z-axis)
User level |
Advanced |
SIM_MAG3_ORIENT¶
MAG3 Orientation
MAG3 external compass orientation
User level |
Advanced |
SIM_MAG3_SCALING¶
MAG3 Scaling factor
Scale the compass 3 to simulate sensor scale factor errors
User level |
Advanced |
SIM_MAG4_DEVID¶
MAG2 Device ID
Device ID of simulated compass 4
User level |
Advanced |
SIM_MAG5_DEVID¶
MAG5 Device ID
Device ID of simulated compass 5
User level |
Advanced |
SIM_MAG6_DEVID¶
MAG6 Device ID
Device ID of simulated compass 6
User level |
Advanced |
SIM_MAG7_DEVID¶
MAG7 Device ID
Device ID of simulated compass 7
User level |
Advanced |
SIM_MAG8_DEVID¶
MAG8 Device ID
Device ID of simulated compass 8
User level |
Advanced |
SIM_MAG_ALY_HGT¶
Magnetic anomaly height
Height above ground where anomally strength has decayed to 1/8 of the ground level value
Units |
|
User level |
Advanced |
SIM_MAG_ALY_X¶
NED anomaly vector at ground level
Simulates localized magnetic field distortions at ground level that decays with altitude. (X-axis)
Units |
|
User level |
Advanced |
SIM_MAG_ALY_Y¶
NED anomaly vector at ground level
Simulates localized magnetic field distortions at ground level that decays with altitude. (Y-axis)
Units |
|
User level |
Advanced |
SIM_MAG_ALY_Z¶
NED anomaly vector at ground level
Simulates localized magnetic field distortions at ground level that decays with altitude. (Z-axis)
Units |
|
User level |
Advanced |
SIM_MAG_DELAY¶
Mag measurement delay
Magnetometer measurement delay
Units |
|
User level |
Advanced |
SIM_MAG_MOT_X¶
Motor magnetic interference
Simulates distortion of magnetometer readings caused by motor current (X-axis)
Units |
|
User level |
Advanced |
SIM_MAG_MOT_Y¶
Motor magnetic interference
Simulates distortion of magnetometer readings caused by motor current (Y-axis)
Units |
|
User level |
Advanced |
SIM_MAG_MOT_Z¶
Motor magnetic interference
Simulates distortion of magnetometer readings caused by motor current (Z-axis)
Units |
|
User level |
Advanced |
SIM_MAG_RND¶
Mag motor noise factor
Scaling factor for simulated vibration from motors
User level |
Advanced |
SIM_MAG_SAVE_IDS¶
Save MAG devids on startup
This forces saving of compass devids on startup so that simulated compasses start as calibrated
User level |
Advanced |
Values¶
Value |
Meaning |
|---|---|
|
Disabled |
|
Enabled |
SIM_ODOM_ENABLE¶
Odometry enable
SITL odometry enabl
Values¶
Value |
Meaning |
|---|---|
|
Disable |
|
Enable |
SIM_OH_MASK¶
SIM-on_hardware Output Enable Mask
channels which are passed through to actual hardware when running sim on actual hardware
SIM_OH_RELAY_MSK¶
SIM-on_hardware Relay Enable Mask
Allow relay output operation when running SIM-on-hardware
SIM_OPOS_ALT¶
Original Position (Altitude)
Specifies vehicle’s startup altitude (AMSL)
User level |
Advanced |
SIM_OPOS_HDG¶
Original Position (Heading)
Specifies vehicle’s startup heading (0-360)
User level |
Advanced |
SIM_OPOS_LAT¶
Original Position (Latitude)
Specifies vehicle’s startup latitude
User level |
Advanced |
SIM_OPOS_LNG¶
Original Position (Longitude)
Specifies vehicle’s startup longitude
User level |
Advanced |
SIM_OSD_COLUMNS¶
Simulated OSD number of text columns
Simulated OSD number of text columns
Range |
|
SIM_OSD_ROWS¶
Simulated OSD number of text rows
Simulated OSD number of text rows
Range |
|
SIM_PIN_MASK¶
GPIO emulation
SITL GPIO emulation
SIM_RATE_HZ¶
Loop rate
SITL Loop rate
Units |
|
SIM_RC_CHANCOUNT¶
RC channel count
SITL RC channel count
SIM_RC_FAIL¶
Simulated RC signal failure
Allows you to emulate rc failures in sim
User level |
Advanced |
Values¶
Value |
Meaning |
|---|---|
|
Disabled |
|
No RC pusles |
|
All Channels neutral except Throttle is 950us |
SIM_SHOVE_TIME¶
Time length for shove
Force to the vehicle over a period of time
Units |
|
SIM_SHOVE_X¶
Acceleration of shove x
Acceleration of shove to vehicle in x axis
Units |
|
SIM_SHOVE_Y¶
Acceleration of shove y
Acceleration of shove to vehicle in y axis
Units |
|
SIM_SHOVE_Z¶
Acceleration of shove z
Acceleration of shove to vehicle in z axis
Units |
|
SIM_SONAR_GLITCH¶
Sonar glitch probablility
Probablility a sonar glitch would happen
Range |
|
User level |
Advanced |
SIM_SONAR_POS_X¶
Sonar Offsets
XYZ position of the sonar relative to the body frame origin (X-axis)
Units |
|
SIM_SONAR_POS_Y¶
Sonar Offsets
XYZ position of the sonar relative to the body frame origin (Y-axis)
Units |
|
SIM_SONAR_POS_Z¶
Sonar Offsets
XYZ position of the sonar relative to the body frame origin (Z-axis)
Units |
|
SIM_SONAR_RND¶
Sonar noise factor
Scaling factor for simulated sonar noise
User level |
Advanced |
SIM_SONAR_ROT¶
Sonar rotation
Sonar rotation from rotations enumeration
SIM_SONAR_SCALE¶
Sonar conversion scale
Sonar conversion scale from distance to voltage
Units |
|
SIM_SPEEDUP¶
Sim Speedup
Runs the simulation at multiples of normal speed. Do not use if realtime physics, like RealFlight, is being used
Range |
|
User level |
Advanced |
SIM_TEMP_BFACTOR¶
Baro temperature factor
A pressure change with temperature that closely matches what has been observed with a ICM-20789
User level |
Advanced |
SIM_TEMP_BRD_OFF¶
Baro temperature offset
Barometer board temperature offset from atmospheric temperature
Units |
|
User level |
Advanced |
SIM_TEMP_START¶
Start temperature
Baro start temperature
Units |
|
User level |
Advanced |
SIM_TEMP_TCONST¶
Warmup time constant
Barometer warmup temperature time constant
Units |
|
User level |
Advanced |
SIM_TERRAIN¶
Terrain Enable
Enable using terrain for height
Values¶
Value |
Meaning |
|---|---|
|
Disable |
|
Enabled |
SIM_THML_SCENARI¶
Thermal scenarios
Scenario for thermalling simulation, for soaring
SIM_TIDE_DIR¶
Tide direction
Tide direction wave is coming from
Units |
|
SIM_TIDE_SPEED¶
Tide speed
Tide speed in simulation
Units |
|
SIM_TIME_JITTER¶
Loop time jitter
Upper limit of random jitter in loop time
Units |
|
User level |
Advanced |
SIM_TWIST_TIME¶
Twist time
Time that twist is applied on the vehicle
Units |
|
SIM_TWIST_X¶
Twist x
Rotational acceleration of twist x axis
Units |
|
SIM_TWIST_Y¶
Twist y
Rotational acceleration of twist y axis
Units |
|
SIM_TWIST_Z¶
Twist z
Rotational acceleration of twist z axis
Units |
|
SIM_UART_LOSS¶
UART byte loss percentage
Sets percentage of outgoing byte loss on UARTs
Units |
|
User level |
Advanced |
SIM_VIB_FREQ_X¶
Vibration frequency
Frequency of vibration applied to IMU readings in SITL (X-axis)
Units |
|
SIM_VIB_FREQ_Y¶
Vibration frequency
Frequency of vibration applied to IMU readings in SITL (Y-axis)
Units |
|
SIM_VIB_FREQ_Z¶
Vibration frequency
Frequency of vibration applied to IMU readings in SITL (Z-axis)
Units |
|
SIM_VIB_MOT_HMNC¶
Motor harmonics
Motor harmonics generated in SITL
SIM_VIB_MOT_MASK¶
Motor mask
Motor mask, allowing external simulators to mark motors
SIM_VIB_MOT_MAX¶
Max motor vibration frequency
Max frequency to use as baseline for adding motor noise for the gyros and accels
Units |
|
SIM_VIB_MOT_MULT¶
Vibration motor scale
Amplitude scaling of motor noise relative to gyro/accel noise
SIM_WAVE_AMP¶
Wave amplitude
Wave amplitude in SITL
Units |
|
SIM_WAVE_DIR¶
Wave direction
Direction wave is coming from
Units |
|
SIM_WAVE_ENABLE¶
Wave enable
Wave enable and modes
Values¶
Value |
Meaning |
|---|---|
|
disabled |
|
roll and pitch |
|
roll and pitch and heave |
SIM_WAVE_LENGTH¶
Wave length
Wave length in SITL
Units |
|
SIM_WAVE_SPEED¶
Wave speed
Wave speed in SITL
Units |
|
SIM_WIND_DIR¶
Direction simulated wind is coming from
Allows you to set wind direction (true deg) in sim
Units |
|
User level |
Advanced |
SIM_WIND_DIR_Z¶
Simulated wind vertical direction
Allows you to set vertical wind direction (true deg) in sim. 0 means pure horizontal wind. 90 means pure updraft.
Units |
|
User level |
Advanced |
SIM_WIND_SPD¶
Simulated Wind speed
Allows you to emulate wind in sim
Units |
|
User level |
Advanced |
SIM_WIND_T¶
Wind Profile Type
Selects how wind varies from surface to WIND_T_ALT
User level |
Advanced |
Values¶
Value |
Meaning |
|---|---|
|
square law |
|
none |
|
linear-see WIND_T_COEF |
SIM_WIND_TC¶
Wind variation time constant
this controls the time over which wind changes take effect
Units |
|
User level |
Advanced |
SIM_WIND_TURB¶
Simulated Wind variation
Allows you to emulate random wind variations in sim
Units |
|
User level |
Advanced |
SIM_WIND_T_ALT¶
Full Wind Altitude
Altitude at which wind reaches full strength, decaying from full strength as altitude lowers to ground level
Units |
|
User level |
Advanced |
SIM_WIND_T_COEF¶
Linear Wind Curve Coeff
For linear wind profile,wind is reduced by (Altitude-WIND_T_ALT) x this value
User level |
Advanced |
SIM_WOW_PIN¶
Weight on Wheels Pin
SITL set this simulated pin to true if vehicle is on ground
User level |
Advanced |