mirror of https://github.com/ArduPilot/ardupilot
46 lines
1.1 KiB
C++
46 lines
1.1 KiB
C++
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#include "AP_Airspeed_SITL.h"
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#if AP_AIRSPEED_SITL_ENABLED
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#include <AP_Baro/AP_Baro.h>
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#include <SITL/SITL.h>
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// return the current differential_pressure in Pascal
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bool AP_Airspeed_SITL::get_differential_pressure(float &pressure)
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{
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const uint8_t _instance = get_instance();
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if (_instance >= AIRSPEED_MAX_SENSORS) {
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return false;
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}
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pressure = AP::sitl()->state.airspeed_raw_pressure[_instance];
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return true;
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}
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// get last temperature
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bool AP_Airspeed_SITL::get_temperature(float &temperature)
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{
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const uint8_t _instance = get_instance();
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if (_instance >= AIRSPEED_MAX_SENSORS) {
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return false;
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}
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const auto *sitl = AP::sitl();
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// this was mostly swiped from SIM_Airspeed_DLVR:
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const float sim_alt = sitl->state.altitude;
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float sigma, delta, theta;
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AP_Baro::SimpleAtmosphere(sim_alt * 0.001f, sigma, delta, theta);
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// To Do: Add a sensor board temperature offset parameter
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temperature = (KELVIN_TO_C(SSL_AIR_TEMPERATURE * theta)) + 25.0;
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return true;
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}
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#endif // AP_AIRSPEED_SITL_ENABLED
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