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AP_InertialSensor: fixed build of NONE backend 

conflict with rand_float()
This commit is contained in:
Andrew Tridgell 2024-01-07 13:01:53 +11:00
parent 7d1cc14b1e
commit 9c8fa7f58c
1 changed files with 14 additions and 14 deletions
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28
libraries/AP_InertialSensor/AP_InertialSensor_NONE.cpp
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@ -7,7 +7,7 @@
#if CONFIG_HAL_BOARD == HAL_BOARD_ESP32
float rand_float(void)
static float sim_rand_float(void)
{
return ((((unsigned)random()) % 2000000) - 1.0e6) / 1.0e6;
}
@ -56,7 +56,7 @@ void AP_InertialSensor_NONE::accumulate()
// calculate a noisy noise component
static float calculate_noise(float noise, float noise_variation) {
return noise * (1.0f + noise_variation * rand_float());
return noise * (1.0f + noise_variation * sim_rand_float());
}
/*
@ -81,9 +81,9 @@ void AP_InertialSensor_NONE::generate_accel()
// this smears the individual motor peaks somewhat emulating physical motors
//float freq_variation = 0.12f;
// add in sensor noise
xAccel += accel_noise * rand_float();
yAccel += accel_noise * rand_float();
zAccel += accel_noise * rand_float();
xAccel += accel_noise * sim_rand_float();
yAccel += accel_noise * sim_rand_float();
zAccel += accel_noise * sim_rand_float();
bool motors_on = 1;
@ -99,9 +99,9 @@ void AP_InertialSensor_NONE::generate_accel()
if (vibe_freq.is_zero()) {
// no rpm noise, so add in background noise if any
xAccel += accel_noise * rand_float();
yAccel += accel_noise * rand_float();
zAccel += accel_noise * rand_float();
xAccel += accel_noise * sim_rand_float();
yAccel += accel_noise * sim_rand_float();
zAccel += accel_noise * sim_rand_float();
}
if (!vibe_freq.is_zero() && motors_on) {
@ -189,9 +189,9 @@ void AP_InertialSensor_NONE::generate_gyro()
// this smears the individual motor peaks somewhat emulating physical motors
float freq_variation = 0.12f;
// add in sensor noise
p += gyro_noise * rand_float();
q += gyro_noise * rand_float();
r += gyro_noise * rand_float();
p += gyro_noise * sim_rand_float();
q += gyro_noise * sim_rand_float();
r += gyro_noise * sim_rand_float();
bool motors_on = 1;
// on a real 180mm copter gyro noise varies between 0.2-0.4 rad/s for throttle 0.2-0.8
@ -206,9 +206,9 @@ void AP_InertialSensor_NONE::generate_gyro()
if ( vibe_freq.is_zero() ) {
// no rpm noise, so add in background noise if any
p += gyro_noise * rand_float();
q += gyro_noise * rand_float();
r += gyro_noise * rand_float();
p += gyro_noise * sim_rand_float();
q += gyro_noise * sim_rand_float();
r += gyro_noise * sim_rand_float();
}
if (!vibe_freq.is_zero() && motors_on) {