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SITL: add apparent wind sensor support

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This commit is contained in:
Iampete1 2020-08-15 16:35:50 +01:00 committed by Andrew Tridgell
parent 51b54d3740
commit 2764126a1c
3 changed files with 17 additions and 0 deletions
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3
libraries/SITL/SIM_Aircraft.cpp
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@ -384,6 +384,9 @@ void Aircraft::fill_fdm(struct sitl_fdm &fdm)
// copy rangefinder
memcpy(fdm.rangefinder_m, rangefinder_m, sizeof(fdm.rangefinder_m));
fdm.wind_vane_apparent.direction = wind_vane_apparent.direction;
fdm.wind_vane_apparent.speed = wind_vane_apparent.speed;
if (is_smoothed) {
fdm.xAccel = smoothing.accel_body.x;
fdm.yAccel = smoothing.accel_body.y;

6
libraries/SITL/SIM_Aircraft.h
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@ -185,6 +185,12 @@ protected:
// Rangefinder
float rangefinder_m[RANGEFINDER_MAX_INSTANCES];
// Windvane apparent wind
struct {
float speed;
float direction;
} wind_vane_apparent;
// Wind Turbulence simulated Data
float turbulence_azimuth = 0.0f;
float turbulence_horizontal_speed = 0.0f; // m/s

8
libraries/SITL/SITL.h
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@ -70,6 +70,11 @@ struct sitl_fdm {
} scanner;
float rangefinder_m[RANGEFINDER_MAX_INSTANCES];
struct {
float speed;
float direction;
} wind_vane_apparent;
};
// number of rc output channels
@ -403,6 +408,9 @@ public:
// get the rangefinder reading for the desired instance, returns -1 for no data
float get_rangefinder(uint8_t instance);
// get the apparent wind speed and direction as set by external physics backend
float get_apparent_wind_dir(){return state.wind_vane_apparent.direction;}
float get_apparent_wind_spd(){return state.wind_vane_apparent.speed;}
};
} // namespace SITL