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52 lines
1.1 KiB
52 lines
1.1 KiB
#pragma once |
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#include "AP_Baro_Backend.h" |
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#if AP_SIM_BARO_ENABLED |
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#include <AP_Math/vectorN.h> |
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#include <SITL/SITL.h> |
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class AP_Baro_SITL : public AP_Baro_Backend { |
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public: |
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AP_Baro_SITL(AP_Baro &); |
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void update() override; |
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protected: |
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void update_healthy_flag(uint8_t instance) override { _frontend.sensors[instance].healthy = healthy(instance); }; |
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private: |
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uint8_t _instance; |
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SITL::SIM *_sitl; |
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// barometer delay buffer variables |
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struct readings_baro { |
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uint32_t time; |
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float data; |
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}; |
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uint8_t _store_index; |
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uint32_t _last_store_time; |
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static const uint8_t _buffer_length = 50; |
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VectorN<readings_baro, _buffer_length> _buffer; |
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// adjust for simulated board temperature |
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void temperature_adjustment(float &p, float &T); |
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// adjust for wind effects |
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float wind_pressure_correction(void); |
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// is the barometer usable for flight |
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bool healthy(uint8_t instance); |
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void _timer(); |
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bool _has_sample; |
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uint32_t _last_sample_time; |
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float _recent_temp; |
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float _recent_press; |
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float _last_altitude; |
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}; |
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#endif // AP_SIM_BARO_ENABLED
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