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AP_HAL_SITL: Add SIM_WIND_DIR_Z parameter for SITL

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This controls the vertical pitch of the 3d wind vector, allowing futher control of the wind
using systems like dronekit. This change directly effects the calcuation of the wind vector
This commit is contained in:
Nicholas Engle 2018-01-30 08:37:18 -08:00 committed by Tom Pittenger
parent 8094198767
commit 8b08e9388d
1 changed files with 4 additions and 1 deletions
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libraries/AP_HAL_SITL/SITL_State.cpp
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@ -343,10 +343,12 @@ void SITL_State::_simulator_servos(SITL::Aircraft::sitl_input &input)
float altitude = _barometer?_barometer->get_altitude():0;
float wind_speed = 0;
float wind_direction = 0;
float wind_dir_z = 0;
if (_sitl) {
// The EKF does not like step inputs so this LPF keeps it happy.
wind_speed = _sitl->wind_speed_active = (0.95f*_sitl->wind_speed_active) + (0.05f*_sitl->wind_speed);
wind_speed = _sitl->wind_speed_active = (0.95f*_sitl->wind_speed_active) + (0.05f*_sitl->wind_speed);
wind_direction = _sitl->wind_direction_active = (0.95f*_sitl->wind_direction_active) + (0.05f*_sitl->wind_direction);
wind_dir_z = _sitl->wind_dir_z_active = (0.95f*_sitl->wind_dir_z_active) + (0.05f*_sitl->wind_dir_z);
}
if (altitude < 0) {
@ -359,6 +361,7 @@ void SITL_State::_simulator_servos(SITL::Aircraft::sitl_input &input)
input.wind.speed = wind_speed;
input.wind.direction = wind_direction;
input.wind.turbulence = _sitl?_sitl->wind_turbulance:0;
input.wind.dir_z = wind_dir_z;
for (i=0; i<SITL_NUM_CHANNELS; i++) {
if (pwm_output[i] == 0xFFFF) {