Mirror
/
ardupilot
mirror of https://github.com/ArduPilot/ardupilot
5
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity

AP_Airspeed: remove HIL support

This commit is contained in:
Peter Barker 2021-06-09 21:31:34 +10:00 committed by Andrew Tridgell
parent ee0a373b60
commit 00002b78a4
2 changed files with 0 additions and 26 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

15
libraries/AP_Airspeed/AP_Airspeed.cpp
View File

@ -395,10 +395,6 @@ float AP_Airspeed::get_pressure(uint8_t i)
if (!enabled(i)) {
return 0;
}
if (state[i].hil_set) {
state[i].healthy = true;
return state[i].hil_pressure;
}
float pressure = 0;
if (sensor[i]) {
state[i].healthy = sensor[i]->get_differential_pressure(pressure);
@ -625,17 +621,6 @@ void AP_Airspeed::Log_Airspeed()
}
}
void AP_Airspeed::setHIL(float airspeed, float diff_pressure, float temperature)
{
state[0].raw_airspeed = airspeed;
state[0].airspeed = airspeed;
state[0].last_pressure = diff_pressure;
state[0].last_update_ms = AP_HAL::millis();
state[0].hil_pressure = diff_pressure;
state[0].hil_set = true;
state[0].healthy = true;
}
bool AP_Airspeed::use(uint8_t i) const
{
if (!enabled(i) || !param[i].use) {

11
libraries/AP_Airspeed/AP_Airspeed.h
View File

@ -105,11 +105,6 @@ public:
}
bool enabled(void) const { return enabled(primary); }
// used by HIL to set the airspeed
void set_HIL(float airspeed) {
state[primary].airspeed = airspeed;
}
// return the differential pressure in Pascal for the last airspeed reading
float get_differential_pressure(uint8_t i) const {
return state[i].last_pressure;
@ -132,14 +127,10 @@ public:
// return true if all enabled sensors are healthy
bool all_healthy(void) const;
void setHIL(float pressure) { state[0].healthy=state[0].hil_set=true; state[0].hil_pressure=pressure; }
// return time in ms of last update
uint32_t last_update_ms(uint8_t i) const { return state[i].last_update_ms; }
uint32_t last_update_ms(void) const { return last_update_ms(primary); }
void setHIL(float airspeed, float diff_pressure, float temperature);
static const struct AP_Param::GroupInfo var_info[];
enum pitot_tube_order { PITOT_TUBE_ORDER_POSITIVE = 0,
@ -217,11 +208,9 @@ private:
float last_pressure;
float filtered_pressure;
float corrected_pressure;
float hil_pressure;
uint32_t last_update_ms;
bool use_zero_offset;
bool healthy;
bool hil_set;
// state of runtime calibration
struct {