diydrones/ardupilot — pull request #709 by benizl (2013-11-26 07:13:38+00:00)
Title: Barometer and Sonar SITL sensor enhancement

There has been a SIM_BARO_RND parameter for a while that's never been wired up. The first commit wires this up and adds a drift rate parameter, between which you can simulate pretty accurately how baros behave

Secondly add support for simulating a downward-looking sonar sensor, including noise and probabilistic glitching to max distance. At the moment only supports simulating the Maxbotics XL.