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AP_HAL_SITL: rangefinder don't adjust value from FDM on external data

This commit is contained in:
Pierre Kancir 2017-03-01 16:54:44 +01:00 committed by Andrew Tridgell
parent 599e3d7b83
commit 4acf4538c7
1 changed files with 15 additions and 11 deletions
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26
libraries/AP_HAL_SITL/sitl_rangefinder.cpp
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@ -19,14 +19,13 @@ extern const AP_HAL::HAL& hal;
using namespace HALSITL;
// TODO Improve that to not use analog
/*
setup the rangefinder with new input
*/
void SITL_State::_update_rangefinder(float range_value)
{
float altitude = range_value;
if (range_value == -1) {
if (is_equal(range_value, -1.0f)) { // Use SITL altitude as reading by default
altitude = _sitl->height_agl;
}
@ -44,24 +43,29 @@ void SITL_State::_update_rangefinder(float range_value)
altitude -= relPosSensorEF.z;
}
float voltage = 5.0f;
if (fabs(_sitl->state.rollDeg) < 90 &&
fabs(_sitl->state.pitchDeg) < 90) {
// adjust for apparent altitude with roll
altitude /= cosf(radians(_sitl->state.rollDeg)) * cosf(radians(_sitl->state.pitchDeg));
float voltage = 5.0f; // Start the reading at max value = 5V
// If the attidude is non reversed for SITL OR we are using rangefinder from external simulator,
// We adjust the reading with noise, glitch and scaler as the reading is on analog port.
if ((fabs(_sitl->state.rollDeg) < 90.0 && fabs(_sitl->state.pitchDeg) < 90.0) || !is_equal(range_value, -1.0f)) {
if (is_equal(range_value, -1.0f)) { // disable for external reading that already handle this
// adjust for apparent altitude with roll
altitude /= cosf(radians(_sitl->state.rollDeg)) * cosf(radians(_sitl->state.pitchDeg));
}
// Add some noise on reading
altitude += _sitl->sonar_noise * rand_float();
// Altitude in in m, scaler in meters/volt
voltage = altitude / _sitl->sonar_scale;
voltage = constrain_float(voltage, 0, 5.0f);
// constrain to 0-5V
voltage = constrain_float(voltage, 0.0f, 5.0f);
if (_sitl->sonar_glitch >= (rand_float() + 1.0f)/2.0f) {
// Use glitch defines as the probablility between 0-1 that any given sonar sample will read as max distance
if (!is_zero(_sitl->sonar_glitch) && _sitl->sonar_glitch >= (rand_float() + 1.0f) / 2.0f) {
voltage = 5.0f;
}
}
sonar_pin_value = 1023*(voltage / 5.0f);
sonar_pin_value = 1023 * (voltage / 5.0f);
}
#endif