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60 lines
2.2 KiB
60 lines
2.2 KiB
/* |
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This program is free software: you can redistribute it and/or modify |
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it under the terms of the GNU General Public License as published by |
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the Free Software Foundation, either version 3 of the License, or |
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(at your option) any later version. |
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This program is distributed in the hope that it will be useful, |
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but WITHOUT ANY WARRANTY; without even the implied warranty of |
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |
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GNU General Public License for more details. |
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You should have received a copy of the GNU General Public License |
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along with this program. If not, see <http://www.gnu.org/licenses/>. |
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*/ |
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#include "AP_WindVane_SITL.h" |
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// constructor |
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AP_WindVane_SITL::AP_WindVane_SITL(AP_WindVane &frontend) : |
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AP_WindVane_Backend(frontend) |
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{ |
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} |
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#if CONFIG_HAL_BOARD == HAL_BOARD_SITL |
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void AP_WindVane_SITL::update_direction() |
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{ |
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// temporarily store true speed and direction for easy access |
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const float wind_speed = AP::sitl()->wind_speed_active; |
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const float wind_dir_rad = radians(AP::sitl()->wind_direction_active); |
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// Note than the SITL wind direction is defined as the direction the wind is traveling to |
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// This is accounted for in these calculations |
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// convert true wind speed and direction into a 2D vector |
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Vector2f wind_vector_ef(cosf(wind_dir_rad) * wind_speed, sinf(wind_dir_rad) * wind_speed); |
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// add vehicle speed to get apparent wind vector |
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wind_vector_ef.x += AP::sitl()->state.speedN; |
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wind_vector_ef.y += AP::sitl()->state.speedE; |
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direction_update_frontend(atan2f(wind_vector_ef.y, wind_vector_ef.x)); |
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} |
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void AP_WindVane_SITL::update_speed() |
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{ |
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// temporarily store true speed and direction for easy access |
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const float wind_speed = AP::sitl()->wind_speed_active; |
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const float wind_dir_rad = radians(AP::sitl()->wind_direction_active); |
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// convert true wind speed and direction into a 2D vector |
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Vector2f wind_vector_ef(cosf(wind_dir_rad) * wind_speed, sinf(wind_dir_rad) * wind_speed); |
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// add vehicle speed to get apparent wind vector |
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wind_vector_ef.x += AP::sitl()->state.speedN; |
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wind_vector_ef.y += AP::sitl()->state.speedE; |
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speed_update_frontend(wind_vector_ef.length()); |
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} |
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#endif
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