From 0afc907b0a0fdc91b7eb33f5951681d29977e6ce Mon Sep 17 00:00:00 2001
From: Pierre Kancir <pierre.kancir.emn@gmail.com>
Date: Thu, 11 May 2017 15:38:32 +0200
Subject: [PATCH] AP_HAL_SITL: rename sitl_ins & _update_ins to sitl_airspeed &
 _update_airspeed

---
 libraries/AP_HAL_SITL/SITL_State.cpp          |  4 +--
 libraries/AP_HAL_SITL/SITL_State.h            |  2 +-
 .../{sitl_ins.cpp => sitl_airspeed.cpp}       | 28 +++++++------------
 3 files changed, 13 insertions(+), 21 deletions(-)
 rename libraries/AP_HAL_SITL/{sitl_ins.cpp => sitl_airspeed.cpp} (83%)

diff --git a/libraries/AP_HAL_SITL/SITL_State.cpp b/libraries/AP_HAL_SITL/SITL_State.cpp
index bb3875e8bc..5c30a68d3f 100644
--- a/libraries/AP_HAL_SITL/SITL_State.cpp
+++ b/libraries/AP_HAL_SITL/SITL_State.cpp
@@ -87,7 +87,7 @@ void SITL_State::_sitl_setup(const char *home_str)
     if (_sitl != nullptr) {
         // setup some initial values
 #ifndef HIL_MODE
-        _update_ins(0);
+        _update_airspeed(0);
         _update_compass();
         _update_gps(0, 0, 0, 0, 0, 0, false);
         _update_rangefinder(0);
@@ -166,7 +166,7 @@ void SITL_State::_fdm_input_step(void)
                     _sitl->state.altitude,
                     _sitl->state.speedN, _sitl->state.speedE, _sitl->state.speedD,
                     !_sitl->gps_disable);
-        _update_ins(_sitl->state.airspeed);
+        _update_airspeed(_sitl->state.airspeed);
         _update_compass();
         _update_rangefinder(_sitl->state.range);
 
diff --git a/libraries/AP_HAL_SITL/SITL_State.h b/libraries/AP_HAL_SITL/SITL_State.h
index fde7bdd9f8..a6f865532f 100644
--- a/libraries/AP_HAL_SITL/SITL_State.h
+++ b/libraries/AP_HAL_SITL/SITL_State.h
@@ -122,7 +122,7 @@ private:
 
     void _update_gps(double latitude, double longitude, float altitude,
                      double speedN, double speedE, double speedD, bool have_lock);
-    void _update_ins(float airspeed);
+    void _update_airspeed(float airspeed);
     void _update_gps_instance(SITL::SITL::GPSType gps_type, const struct gps_data *d, uint8_t instance);
     void _check_rc_input(void);
     void _fdm_input_local(void);
diff --git a/libraries/AP_HAL_SITL/sitl_ins.cpp b/libraries/AP_HAL_SITL/sitl_airspeed.cpp
similarity index 83%
rename from libraries/AP_HAL_SITL/sitl_ins.cpp
rename to libraries/AP_HAL_SITL/sitl_airspeed.cpp
index 2d6fdabb81..31e7e7b03a 100644
--- a/libraries/AP_HAL_SITL/sitl_ins.cpp
+++ b/libraries/AP_HAL_SITL/sitl_airspeed.cpp
@@ -1,7 +1,7 @@
 /*
   SITL handling
 
-  This emulates the ADS7844 ADC
+  This simulates an analog airspeed sensor
 
   Andrew Tridgell November 2011
  */
@@ -31,16 +31,22 @@ using namespace HALSITL;
 /*
   convert airspeed in m/s to an airspeed sensor value
  */
-uint16_t SITL_State::_airspeed_sensor(float airspeed)
+void SITL_State::_update_airspeed(float airspeed)
 {
     const float airspeed_ratio = 1.9936f;
     const float airspeed_offset = 2013;
     float airspeed_pressure, airspeed_raw;
 
+    // Check sensor failure
+    airspeed = is_zero(_sitl->arspd_fail) ? airspeed : _sitl->arspd_fail;
+    // Add noise
+    airspeed = airspeed + (_sitl->arspd_noise * rand_float());
+
     airspeed_pressure = (airspeed*airspeed) / airspeed_ratio;
     airspeed_raw = airspeed_pressure + airspeed_offset;
     if (airspeed_raw/4 > 0xFFFF) {
-        return 0xFFFF;
+        airspeed_pin_value = 0xFFFF;
+        return;
     }
     // add delay
     uint32_t now = AP_HAL::millis();
@@ -75,21 +81,7 @@ uint16_t SITL_State::_airspeed_sensor(float airspeed)
         airspeed_raw = buffer_wind[best_index_wind].data;
     }
 
-    return airspeed_raw/4;
-}
-
-/*
-  setup the INS input channels with new input
- */
-void SITL_State::_update_ins(float airspeed)
-{
-    if (_ins == nullptr) {
-        // no inertial sensor in this sketch
-        return;
-    }
-
-    const float airspeed_simulated = is_zero(_sitl->arspd_fail) ? airspeed : _sitl->arspd_fail;
-    airspeed_pin_value = _airspeed_sensor(airspeed_simulated + (_sitl->arspd_noise * rand_float()));
+    airspeed_pin_value = airspeed_raw/4;
 }
 
 #endif