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39 lines
699 B
39 lines
699 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 <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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#include <AP_Baro.h> // ArduPilot Mega BMP085 Library |
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#include <SITL.h> |
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#include "desktop.h" |
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#include "util.h" |
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extern SITL sitl; |
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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_update_barometer(float altitude) |
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{ |
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extern AP_Baro_BMP085_HIL barometer; |
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double Temp, Press, y; |
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Temp = 312; |
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y = ((altitude-584.0) * 1000.0) / 29271.267; |
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y /= (Temp / 10.0) + 273.15; |
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y = 1.0/exp(y); |
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y *= 95446.0; |
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Press = y + (rand_float() * sitl.baro_noise); |
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barometer.setHIL(Temp, Press); |
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}
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