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

SITL: increase the amount of noise in the simulated ADC 

this increases the noise to 2 bits, which actually can have the effect
of improving accuracy, as it leads to better averaging
This commit is contained in:
Andrew Tridgell 2012-02-18 17:45:56 +11:00
parent 9602b1f91b
commit 2472f0a2f3
1 changed files with 10 additions and 2 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

12
libraries/Desktop/support/sitl_adc.h
View File

@ -8,6 +8,15 @@
#include <stdlib.h>
#define NOISE_BITS 4
static inline float noise_generator(void)
{
float noise = ((unsigned)random()) & ((1<<NOISE_BITS)-1);
noise -= 0.5*(1<<NOISE_BITS);
return noise;
}
// this implements the UDR2 register
struct ADC_UDR2 {
uint16_t value, next_value;
@ -42,8 +51,7 @@ struct ADC_UDR2 {
default: return *this;
}
idx = 1;
int noise = (((unsigned long)random()) % 3) - 1;
next_value = (unsigned)(next_analog + noise + 0.5);
next_value = (unsigned)(next_analog + noise_generator() + 0.5);
if (next_value >= 0x1000) {
next_value = 0xFFF;
}