Mirror/ardupilot
5
0
Fork 0
mirror of https://github.com/ArduPilot/ardupilot synced 2025-02-21 23:33:57 -04:00
Code Issues Packages Projects Releases Wiki Activity

SITL: fixed frame_property build error with older C++ compilers

Browse Source
This commit is contained in:
Andrew Tridgell 2018-10-14 15:36:33 +11:00
parent c72f2e57b0
commit 9257d29717
2 changed files with 6 additions and 8 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

8
libraries/SITL/SIM_Submarine.cpp
View File

@ -93,7 +93,7 @@ void Submarine::calculate_forces(const struct sitl_input &input, Vector3f &rot_a
*/
float Submarine::calculate_buoyancy_acceleration()
{
float below_water_level = position.z - frame_proprietary.height/2;
float below_water_level = position.z - frame_property.height/2;
// Completely above water level
if (below_water_level < 0) {
@ -101,12 +101,12 @@ float Submarine::calculate_buoyancy_acceleration()
}
// Completely below water level
if (below_water_level > frame_proprietary.height/2) {
return frame_proprietary.bouyancy_acceleration;
if (below_water_level > frame_property.height/2) {
return frame_property.bouyancy_acceleration;
}
// bouyant force is proportional to fraction of height in water
return frame_proprietary.bouyancy_acceleration * below_water_level/frame_proprietary.height;
return frame_property.bouyancy_acceleration * below_water_level/frame_property.height;
};
/*

6
libraries/SITL/SIM_Submarine.h
View File

@ -45,9 +45,7 @@ public:
protected:
const float water_density = 1023.6; // (kg/m^3) At a temperature of 25 °C, salinity of 35 g/kg and 1 atm pressure
const class FrameConfig {
public:
FrameConfig() = default;
const struct {
float length = 0.457; // x direction (meters)
float width = 0.338; // y direction (meters)
float height = 0.254; // z direction (meters)
@ -55,7 +53,7 @@ protected:
float net_bouyancy = 2.0; // (N)
float bouyancy_acceleration = GRAVITY_MSS + net_bouyancy/weight;
} frame_proprietary;
} frame_property;
bool on_ground() const override;