You can not select more than 25 topics
Topics must start with a letter or number, can include dashes ('-') and can be up to 35 characters long.
58 lines
984 B
58 lines
984 B
/* |
|
SITL handling |
|
|
|
This simulates a barometer |
|
|
|
Andrew Tridgell November 2011 |
|
*/ |
|
|
|
#include <AP_HAL.h> |
|
#include <AP_Math.h> |
|
|
|
#if CONFIG_HAL_BOARD == HAL_BOARD_AVR_SITL |
|
|
|
#include "AP_HAL_AVR_SITL.h" |
|
|
|
using namespace AVR_SITL; |
|
|
|
extern const AP_HAL::HAL& hal; |
|
|
|
#include <unistd.h> |
|
#include <stdio.h> |
|
#include <stdlib.h> |
|
#include <stdint.h> |
|
#include <math.h> |
|
|
|
/* |
|
setup the barometer with new input |
|
altitude is in meters |
|
*/ |
|
void SITL_State::_update_barometer(float altitude) |
|
{ |
|
double Temp, Press, y; |
|
static uint32_t last_update; |
|
|
|
if (_barometer == NULL) { |
|
// this sketch doesn't use a barometer |
|
return; |
|
} |
|
|
|
// 80Hz, to match the real APM2 barometer |
|
if (hal.scheduler->millis() - last_update < 12) { |
|
return; |
|
} |
|
last_update = hal.scheduler->millis(); |
|
|
|
Temp = 312; |
|
|
|
y = ((altitude-584.0) * 1000.0) / 29271.267; |
|
y /= (Temp / 10.0) + 273.15; |
|
y = 1.0/exp(y); |
|
y *= 95446.0; |
|
|
|
Press = y + (_rand_float() * _sitl->baro_noise); |
|
|
|
_barometer->setHIL(Temp, Press); |
|
} |
|
|
|
#endif
|
|
|