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SITL: SIM_Aircraft: add rangefinder array

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This commit is contained in:
Iampete1 2020-07-18 00:37:34 +01:00 committed by Andrew Tridgell
parent e18c195df4
commit 16a9506cf2
2 changed files with 12 additions and 1 deletions
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8
libraries/SITL/SIM_Aircraft.cpp
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@ -83,6 +83,11 @@ Aircraft::Aircraft(const char *frame_str) :
}
terrain = &AP::terrain();
// init rangefinder array to -1 to signify no data
for (uint8_t i = 0; i < RANGEFINDER_MAX_INSTANCES; i++){
rangefinder_m[i] = -1.0f;
}
}
void Aircraft::set_start_location(const Location &start_loc, const float start_yaw)
@ -374,6 +379,9 @@ void Aircraft::fill_fdm(struct sitl_fdm &fdm)
fdm.scanner.points = scanner.points;
fdm.scanner.ranges = scanner.ranges;
// copy rangefinder
memcpy(fdm.rangefinder_m, rangefinder_m, sizeof(fdm.rangefinder_m));
if (is_smoothed) {
fdm.xAccel = smoothing.accel_body.x;
fdm.yAccel = smoothing.accel_body.y;

5
libraries/SITL/SIM_Aircraft.h
View File

@ -181,7 +181,10 @@ protected:
struct vector3f_array points;
struct float_array ranges;
} scanner;
// Rangefinder
float rangefinder_m[RANGEFINDER_MAX_INSTANCES];
// Wind Turbulence simulated Data
float turbulence_azimuth = 0.0f;
float turbulence_horizontal_speed = 0.0f; // m/s