Mirror/ardupilot
5
0
Fork 0
mirror of https://github.com/ArduPilot/ardupilot synced 2025-03-03 12:14:10 -04:00
Code Issues Packages Projects Releases Wiki Activity

AP_Baro: rename all local variable with prefix

Browse Source 
fix last missing spaces
This commit is contained in:
khancyr 2017-07-24 13:00:36 +02:00 committed by Lucas De Marchi
parent 35ac86ff8d
commit 2d0bce18a8
2 changed files with 27 additions and 27 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

44
libraries/AP_Baro/AP_Baro_SITL.cpp
View File

@ -13,8 +13,8 @@ AP_Baro_SITL::AP_Baro_SITL(AP_Baro &baro) :
_has_sample(false), _has_sample(false),
AP_Baro_Backend(baro) AP_Baro_Backend(baro)
{ {
sitl = (SITL::SITL *)AP_Param::find_object("SIM_"); _sitl = (SITL::SITL *)AP_Param::find_object("SIM_");
if (sitl != nullptr) { if (_sitl != nullptr) {
_instance = _frontend.register_sensor(); _instance = _frontend.register_sensor();
hal.scheduler->register_timer_process(FUNCTOR_BIND(this, &AP_Baro_SITL::_timer, void)); hal.scheduler->register_timer_process(FUNCTOR_BIND(this, &AP_Baro_SITL::_timer, void));
} }
@ -24,10 +24,10 @@ AP_Baro_SITL::AP_Baro_SITL(AP_Baro &baro) :
void AP_Baro_SITL::temperature_adjustment(float &p, float &T) void AP_Baro_SITL::temperature_adjustment(float &p, float &T)
{ {
const float tsec = AP_HAL::millis() * 0.001f; const float tsec = AP_HAL::millis() * 0.001f;
const float T0 = sitl->temp_start; const float T0 = _sitl->temp_start;
const float T1 = sitl->temp_flight; const float T1 = _sitl->temp_flight;
const float tconst = sitl->temp_tconst; const float tconst = _sitl->temp_tconst;
const float baro_factor = sitl->temp_baro_factor; const float baro_factor = _sitl->temp_baro_factor;
const float Tzero = 30.0f; // start baro adjustment at 30C const float Tzero = 30.0f; // start baro adjustment at 30C
T = T1 - (T1 - T0) * expf(-tsec / tconst); T = T1 - (T1 - T0) * expf(-tsec / tconst);
if (is_positive(baro_factor)) { if (is_positive(baro_factor)) {
@ -48,42 +48,42 @@ void AP_Baro_SITL::_timer()
} }
_last_sample_time = now; _last_sample_time = now;
float sim_alt = sitl->state.altitude; float sim_alt = _sitl->state.altitude;
if (sitl->baro_disable) { if (_sitl->baro_disable) {
// barometer is disabled // barometer is disabled
return; return;
} }
sim_alt += sitl->baro_drift * now / 1000.0f; sim_alt += _sitl->baro_drift * now / 1000.0f;
sim_alt += sitl->baro_noise * rand_float(); sim_alt += _sitl->baro_noise * rand_float();
// add baro glitch // add baro glitch
sim_alt += sitl->baro_glitch; sim_alt += _sitl->baro_glitch;
// add delay // add delay
uint32_t best_time_delta = 200; // initialise large time representing buffer entry closest to current time - delay. uint32_t best_time_delta = 200; // initialise large time representing buffer entry closest to current time - delay.
uint8_t best_index = 0; // initialise number representing the index of the entry in buffer closest to delay. uint8_t best_index = 0; // initialise number representing the index of the entry in buffer closest to delay.
// storing data from sensor to buffer // storing data from sensor to buffer
if (now - last_store_time >= 10) { // store data every 10 ms. if (now - _last_store_time >= 10) { // store data every 10 ms.
last_store_time = now; _last_store_time = now;
if (store_index > buffer_length-1) { // reset buffer index if index greater than size of buffer if (_store_index > _buffer_length - 1) { // reset buffer index if index greater than size of buffer
store_index = 0; _store_index = 0;
} }
buffer[store_index].data = sim_alt; // add data to current index _buffer[_store_index].data = sim_alt; // add data to current index
buffer[store_index].time = last_store_time; // add time_stamp to current index _buffer[_store_index].time = _last_store_time; // add time_stamp to current index
store_index = store_index + 1; // increment index _store_index = _store_index + 1; // increment index
} }
// return delayed measurement // return delayed measurement
const uint32_t delayed_time = now - sitl->baro_delay; // get time corresponding to delay const uint32_t delayed_time = now - _sitl->baro_delay; // get time corresponding to delay
// find data corresponding to delayed time in buffer // find data corresponding to delayed time in buffer
for (uint8_t i=0; i<=buffer_length-1; i++) { for (uint8_t i = 0; i <= _buffer_length - 1; i++) {
// find difference between delayed time and time stamp in buffer // find difference between delayed time and time stamp in buffer
uint32_t time_delta = abs( uint32_t time_delta = abs(
(int32_t)(delayed_time - buffer[i].time)); (int32_t)(delayed_time - _buffer[i].time));
// if this difference is smaller than last delta, store this time // if this difference is smaller than last delta, store this time
if (time_delta < best_time_delta) { if (time_delta < best_time_delta) {
best_index = i; best_index = i;
@ -91,7 +91,7 @@ void AP_Baro_SITL::_timer()
} }
} }
if (best_time_delta < 200) { // only output stored state if < 200 msec retrieval error if (best_time_delta < 200) { // only output stored state if < 200 msec retrieval error
sim_alt = buffer[best_index].data; sim_alt = _buffer[best_index].data;
} }
float sigma, delta, theta; float sigma, delta, theta;

10
libraries/AP_Baro/AP_Baro_SITL.h
View File

@ -18,17 +18,17 @@ protected:
private: private:
uint8_t _instance; uint8_t _instance;
SITL::SITL *sitl; SITL::SITL *_sitl;
// barometer delay buffer variables // barometer delay buffer variables
struct readings_baro { struct readings_baro {
uint32_t time; uint32_t time;
float data; float data;
}; };
uint8_t store_index; uint8_t _store_index;
uint32_t last_store_time; uint32_t _last_store_time;
static const uint8_t buffer_length = 50; static const uint8_t _buffer_length = 50;
VectorN<readings_baro, buffer_length> buffer; VectorN<readings_baro, _buffer_length> _buffer;
// adjust for simulated board temperature // adjust for simulated board temperature
void temperature_adjustment(float &p, float &T); void temperature_adjustment(float &p, float &T);