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48 lines
783 B
48 lines
783 B
/* |
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SITL handling |
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This simulates a barometer |
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Andrew Tridgell November 2011 |
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*/ |
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#include <AP_HAL.h> |
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#include <AP_Math.h> |
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#if CONFIG_HAL_BOARD == HAL_BOARD_AVR_SITL |
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#include "AP_HAL_AVR_SITL.h" |
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using namespace AVR_SITL; |
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extern const AP_HAL::HAL& hal; |
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#include <unistd.h> |
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#include <stdio.h> |
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#include <stdlib.h> |
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#include <stdint.h> |
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#include <math.h> |
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/* |
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setup the barometer with new input |
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altitude is in meters |
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*/ |
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void SITL_State::_update_barometer(float altitude) |
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{ |
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static uint32_t last_update; |
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if (_barometer == NULL) { |
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// this sketch doesn't use a barometer |
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return; |
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} |
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// 80Hz, to match the real APM2 barometer |
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if (hal.scheduler->millis() - last_update < 12) { |
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return; |
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} |
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last_update = hal.scheduler->millis(); |
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_barometer->setHIL(altitude); |
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} |
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#endif
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