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AP_Baro: fix some style and const correctness

This commit is contained in:
khancyr 2017-07-24 10:57:21 +02:00 committed by Lucas De Marchi
parent 0e895f5c74
commit 35ac86ff8d
2 changed files with 21 additions and 21 deletions
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38
libraries/AP_Baro/AP_Baro_SITL.cpp
View File

@ -23,14 +23,14 @@ AP_Baro_SITL::AP_Baro_SITL(AP_Baro &baro) :
// adjust for board temperature
void AP_Baro_SITL::temperature_adjustment(float &p, float &T)
{
float tsec = AP_HAL::millis() * 0.001;
const float tsec = AP_HAL::millis() * 0.001f;
const float T0 = sitl->temp_start;
const float T1 = sitl->temp_flight;
const float tconst = sitl->temp_tconst;
const float baro_factor = sitl->temp_baro_factor;
const float Tzero = 30; // start baro adjustment at 30C
T = T1 - (T1 - T0)*expf(-tsec / tconst);
if (baro_factor > 0) {
const float Tzero = 30.0f; // start baro adjustment at 30C
T = T1 - (T1 - T0) * expf(-tsec / tconst);
if (is_positive(baro_factor)) {
// this produces a pressure change with temperature that
// closely matches what has been observed with a ICM-20789
// barometer. A typical factor is 1.2.
@ -42,7 +42,7 @@ void AP_Baro_SITL::_timer()
{
// 100Hz
uint32_t now = AP_HAL::millis();
const uint32_t now = AP_HAL::millis();
if ((now - _last_sample_time) < 10) {
return;
}
@ -55,29 +55,29 @@ void AP_Baro_SITL::_timer()
return;
}
sim_alt += sitl->baro_drift * now / 1000;
sim_alt += sitl->baro_drift * now / 1000.0f;
sim_alt += sitl->baro_noise * rand_float();
// add baro glitch
sim_alt += sitl->baro_glitch;
// add 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.
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.
// 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;
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;
}
buffer[store_index].data = sim_alt; // add data to current index
buffer[store_index].time = last_store_time; // add time_stamp to current index
store_index = store_index + 1; // increment 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
store_index = store_index + 1; // increment index
}
// return delayed measurement
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
for (uint8_t i=0; i<=buffer_length-1; i++) {
@ -90,16 +90,16 @@ void AP_Baro_SITL::_timer()
best_time_delta = time_delta;
}
}
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;
}
float sigma, delta, theta;
const float p0 = 101325;
const float p0 = 101325.0f;
AP_Baro::SimpleAtmosphere(sim_alt*0.001f, sigma, delta, theta);
AP_Baro::SimpleAtmosphere(sim_alt * 0.001f, sigma, delta, theta);
float p = p0 * delta;
float T = 303.16f * theta - 273.16f; // Assume 30 degrees at sea level - converted to degrees Kelvin
float T = 303.16f * theta - 273.16f; // Assume 30 degrees at sea level - converted to degrees Kelvin
temperature_adjustment(p, T);
@ -123,4 +123,4 @@ void AP_Baro_SITL::update(void)
}
}
#endif // CONFIG_HAL_BOARD
#endif // CONFIG_HAL_BOARD

4
libraries/AP_Baro/AP_Baro_SITL.h
View File

@ -28,7 +28,7 @@ private:
uint8_t store_index;
uint32_t last_store_time;
static const uint8_t buffer_length = 50;
VectorN<readings_baro,buffer_length> buffer;
VectorN<readings_baro, buffer_length> buffer;
// adjust for simulated board temperature
void temperature_adjustment(float &p, float &T);
@ -40,4 +40,4 @@ private:
float _recent_press;
};
#endif // CONFIG_HAL_BOARD
#endif // CONFIG_HAL_BOARD