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HAL_AVR_SITL: integrate ACC_BIAS and BARO_GLITCH 

Adjust simulated accelerometer values and barometer altitude
This commit is contained in:
Randy Mackay 2014-07-28 17:41:19 +09:00
parent 79291f25a0
commit 5f1f619829
2 changed files with 8 additions and 3 deletions
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3
libraries/AP_HAL_AVR_SITL/sitl_barometer.cpp
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@ -53,6 +53,9 @@ void SITL_State::_update_barometer(float altitude)
sim_alt += _sitl->baro_drift * now / 1000;
sim_alt += _sitl->baro_noise * _rand_float();
// add baro glitch
sim_alt += _sitl->baro_glitch;
_barometer->setHIL(sim_alt);
}

8
libraries/AP_HAL_AVR_SITL/sitl_ins.cpp
View File

@ -149,9 +149,11 @@ void SITL_State::_update_ins(float roll, float pitch, float yaw, // Relative
accel_noise += _sitl->accel_noise;
gyro_noise += ToRad(_sitl->gyro_noise);
}
float xAccel1 = xAccel + accel_noise * _rand_float();
float yAccel1 = yAccel + accel_noise * _rand_float();
float zAccel1 = zAccel + accel_noise * _rand_float();
// get accel bias (add only to first accelerometer)
Vector3f accel_bias = _sitl->accel_bias.get();
float xAccel1 = xAccel + accel_noise * _rand_float() + accel_bias.x;
float yAccel1 = yAccel + accel_noise * _rand_float() + accel_bias.y;
float zAccel1 = zAccel + accel_noise * _rand_float() + accel_bias.z;
float xAccel2 = xAccel + accel_noise * _rand_float();
float yAccel2 = yAccel + accel_noise * _rand_float();