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SITL: use new baro setHIL method

This commit is contained in:
Andrew Tridgell 2013-05-02 15:27:27 +10:00
parent 90cf1b0386
commit 65183887e5
1 changed files with 1 additions and 11 deletions
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12
libraries/AP_HAL_AVR_SITL/sitl_barometer.cpp
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@ -29,7 +29,6 @@ extern const AP_HAL::HAL& hal;
*/
void SITL_State::_update_barometer(float altitude)
{
double Temp, Press, y;
static uint32_t last_update;
if (_barometer == NULL) {
@ -43,16 +42,7 @@ void SITL_State::_update_barometer(float altitude)
}
last_update = hal.scheduler->millis();
Temp = 312;
y = ((altitude-584.0) * 1000.0) / 29271.267;
y /= (Temp / 10.0) + 273.15;
y = 1.0/exp(y);
y *= 95446.0;
Press = y + (_rand_float() * _sitl->baro_noise);
_barometer->setHIL(Temp, Press);
_barometer->setHIL(altitude);
}
#endif