ardupilot/libraries/AP_Baro/AP_Baro_HIL.cpp

#include "AP_Baro.h"

#include <AP_HAL/AP_HAL.h>
#include <AP_Math/definitions.h>

extern const AP_HAL::HAL& hal;

// ==========================================================================
// based on tables.cpp from http://www.pdas.com/atmosdownload.html

void AP_Baro::SimpleUnderWaterAtmosphere(
	float alt,            // depth, km.
	float& rho,           // density/sea-level
	float& delta,         // pressure/sea-level standard pressure
	float& theta)         // temperature/sea-level standard temperature
{
    // Values and equations based on:
    // https://en.wikipedia.org/wiki/Standard_sea_level
    const float seaDensity = 1.024f;      // g/cm3
    const float maxSeaDensity = 1.028f;   // g/cm3
    const float pAC = maxSeaDensity - seaDensity; // pycnocline angular coefficient

    // From: https://www.windows2universe.org/earth/Water/density.html
    rho = seaDensity;
    if (alt < 1.0f) {
        // inside pycnocline
        rho += pAC*alt;
    } else {
        rho += pAC;
    }
    rho = rho/seaDensity;

    // From: https://www.grc.nasa.gov/www/k-12/WindTunnel/Activities/fluid_pressure.html
    // \f$P = \rho (kg) \cdot gravity (m/s2) \cdot depth (m)\f$
    // \f$P_{atmosphere} = 101.325 kPa\f$
    // \f$P_{total} = P_{atmosphere} + P_{fluid}\f$
    delta = (SSL_AIR_PRESSURE + (seaDensity * 1e3) * GRAVITY_MSS * (alt * 1e3)) / SSL_AIR_PRESSURE;

    // From: http://residualanalysis.blogspot.com.br/2010/02/temperature-of-ocean-water-at-given.html
    // \f$T(D)\f$ Temperature underwater at given temperature
    // \f$S\f$ Surface temperature at the surface
    // \f$T(D)\approx\frac{S}{1.8 \cdot 10^{-4} \cdot S \cdot T + 1}\f$
    const float seaTempSurface = KELVIN_TO_C(SSL_AIR_TEMPERATURE); // Celsius
    const float S = seaTempSurface * 0.338f;
    theta = 1.0f / ((1.8e-4f) * S * (alt * 1e3f) + 1.0f);
}