From 11229d258825279af5096958f8c3a78185ed022d Mon Sep 17 00:00:00 2001 From: Tom Pittenger Date: Fri, 18 Nov 2016 10:42:10 -0800 Subject: [PATCH] SITL: fix whitespace --- libraries/SITL/SIM_Aircraft.cpp | 19 ++++++++----------- 1 file changed, 8 insertions(+), 11 deletions(-) diff --git a/libraries/SITL/SIM_Aircraft.cpp b/libraries/SITL/SIM_Aircraft.cpp index ee818cfcd4..d2e8acabff 100644 --- a/libraries/SITL/SIM_Aircraft.cpp +++ b/libraries/SITL/SIM_Aircraft.cpp @@ -511,24 +511,21 @@ void Aircraft::update_wind(const struct sitl_input &input) // wind vector in earth frame wind_ef = Vector3f(cosf(radians(input.wind.direction)), sinf(radians(input.wind.direction)), 0) * input.wind.speed; - //float wind_turb=input.wind.turbulence*input.wind.speed; //creating a linear dependency between wind and turbulence + const float wind_turb = input.wind.turbulence * 10.0; // scale input.wind.turbulence to match standard deviation when using iir_coef=0.98 + const float iir_coef = 0.98; // filtering high frequencies from turbulence - float wind_turb=input.wind.turbulence; - wind_turb=wind_turb*10.0; //scale input.wind.turbulence to match standard deviation when using iir_coef=0.98 - float iir_coef=0.98; //filtering high frequencies from turbulence - - if (wind_turb>0 && !on_ground(position)) { + if (wind_turb > 0 && !on_ground(position)) { - turbulence_azimuth=turbulence_azimuth+2*rand(); + turbulence_azimuth = turbulence_azimuth + (2 * rand()); turbulence_horizontal_speed= - turbulence_horizontal_speed*iir_coef+wind_turb*rand_normal(0,1)*(1-iir_coef); + turbulence_horizontal_speed * iir_coef+wind_turb * rand_normal(0,1) * (1-iir_coef); - turbulence_vertical_speed=turbulence_vertical_speed*iir_coef+wind_turb*rand_normal(0,1)*(1-iir_coef); + turbulence_vertical_speed = (turbulence_vertical_speed * iir_coef) + (wind_turb * rand_normal(0,1) * (1-iir_coef)); wind_ef += Vector3f( - cosf(radians(turbulence_azimuth))*turbulence_horizontal_speed, - sinf(radians(turbulence_azimuth))*turbulence_horizontal_speed, + cosf(radians(turbulence_azimuth)) * turbulence_horizontal_speed, + sinf(radians(turbulence_azimuth)) * turbulence_horizontal_speed, turbulence_vertical_speed); } }