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SITL: remove unneeded circular rangfinder include

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This commit is contained in:
Peter Barker 2022-10-02 19:21:54 +11:00 committed by Andrew Tridgell
parent 23ec7a15b2
commit 6be8d9cd06
5 changed files with 7 additions and 7 deletions
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2
libraries/SITL/SIM_AirSim.cpp
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@ -334,7 +334,7 @@ void AirSim::recv_fdm(const sitl_input& input)
} }
// Update Rangefinder data, max sensors limit as defined // Update Rangefinder data, max sensors limit as defined
uint8_t rng_sensor_count = MIN(state.rng.rng_distances.length, RANGEFINDER_MAX_INSTANCES); uint8_t rng_sensor_count = MIN(state.rng.rng_distances.length, ARRAY_SIZE(rangefinder_m));
for (uint8_t i=0; i<rng_sensor_count; i++) { for (uint8_t i=0; i<rng_sensor_count; i++) {
rangefinder_m[i] = state.rng.rng_distances.data[i]; rangefinder_m[i] = state.rng.rng_distances.data[i];
} }

4
libraries/SITL/SIM_Aircraft.cpp
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@ -70,7 +70,7 @@ Aircraft::Aircraft(const char *frame_str) :
} }
// init rangefinder array to -1 to signify no data // init rangefinder array to -1 to signify no data
for (uint8_t i = 0; i < RANGEFINDER_MAX_INSTANCES; i++){ for (uint8_t i = 0; i < ARRAY_SIZE(rangefinder_m); i++){
rangefinder_m[i] = -1.0f; rangefinder_m[i] = -1.0f;
} }
} }
@ -954,7 +954,7 @@ void Aircraft::update_external_payload(const struct sitl_input &input)
{ {
const float range = rangefinder_range(); const float range = rangefinder_range();
for (uint8_t i=0; i<RANGEFINDER_MAX_INSTANCES; i++) { for (uint8_t i=0; i<ARRAY_SIZE(rangefinder_m); i++) {
rangefinder_m[i] = range; rangefinder_m[i] = range;
} }
} }

2
libraries/SITL/SIM_Aircraft.h
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@ -205,7 +205,7 @@ protected:
} scanner; } scanner;
// Rangefinder // Rangefinder
float rangefinder_m[RANGEFINDER_MAX_INSTANCES]; float rangefinder_m[SITL_NUM_RANGEFINDERS];
// Windvane apparent wind // Windvane apparent wind
struct { struct {

2
libraries/SITL/SITL.cpp
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@ -663,7 +663,7 @@ Vector3f SIM::convert_earth_frame(const Matrix3f &dcm, const Vector3f &gyro)
// get the rangefinder reading for the desired rotation, returns -1 for no data // get the rangefinder reading for the desired rotation, returns -1 for no data
float SIM::get_rangefinder(uint8_t instance) { float SIM::get_rangefinder(uint8_t instance) {
if (instance < RANGEFINDER_MAX_INSTANCES) { if (instance < ARRAY_SIZE(state.rangefinder_m)) {
return state.rangefinder_m[instance]; return state.rangefinder_m[instance];
} }
return -1; return -1;

4
libraries/SITL/SITL.h
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@ -26,7 +26,6 @@
#include "SIM_IntelligentEnergy24.h" #include "SIM_IntelligentEnergy24.h"
#include "SIM_Ship.h" #include "SIM_Ship.h"
#include "SIM_GPS.h" #include "SIM_GPS.h"
#include <AP_RangeFinder/AP_RangeFinder.h>
namespace SITL { namespace SITL {
@ -78,7 +77,8 @@ struct sitl_fdm {
struct float_array ranges; struct float_array ranges;
} scanner; } scanner;
float rangefinder_m[RANGEFINDER_MAX_INSTANCES]; #define SITL_NUM_RANGEFINDERS 10
float rangefinder_m[SITL_NUM_RANGEFINDERS];
float airspeed_raw_pressure[AIRSPEED_MAX_SENSORS]; float airspeed_raw_pressure[AIRSPEED_MAX_SENSORS];
struct { struct {