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SITL: added barometer wind coefficients

This commit is contained in:
Andrew Tridgell 2020-11-25 13:44:46 +11:00
parent 567de3047b
commit b7f68e87b4
3 changed files with 14 additions and 0 deletions
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1
libraries/SITL/SIM_Aircraft.cpp
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@ -349,6 +349,7 @@ void Aircraft::fill_fdm(struct sitl_fdm &fdm)
fdm.yawDeg = degrees(y);
fdm.quaternion.from_rotation_matrix(dcm);
fdm.airspeed = airspeed_pitot;
fdm.velocity_air_bf = velocity_air_bf;
fdm.battery_voltage = battery_voltage;
fdm.battery_current = battery_current;
fdm.num_motors = num_motors;

6
libraries/SITL/SITL.cpp
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@ -269,6 +269,12 @@ const AP_Param::GroupInfo SITL::BaroParm::var_info[] = {
AP_GROUPINFO("GLITCH", 4, SITL::BaroParm, glitch, 0),
AP_GROUPINFO("FREEZE", 5, SITL::BaroParm, freeze, 0),
AP_GROUPINFO("DELAY", 6, SITL::BaroParm, delay, 0),
// wind coeffients
AP_GROUPINFO("WCF_FWD", 7, SITL::BaroParm, wcof_xp, 0.0),
AP_GROUPINFO("WCF_BAK", 8, SITL::BaroParm, wcof_xn, 0.0),
AP_GROUPINFO("WCF_RGT", 9, SITL::BaroParm, wcof_yp, 0.0),
AP_GROUPINFO("WCF_LFT", 10, SITL::BaroParm, wcof_yn, 0.0),
AP_GROUPEND
};

7
libraries/SITL/SITL.h
View File

@ -54,6 +54,7 @@ struct sitl_fdm {
double rollDeg, pitchDeg, yawDeg; // euler angles, degrees
Quaternion quaternion;
double airspeed; // m/s
Vector3f velocity_air_bf; // velocity relative to airmass, body frame
double battery_voltage; // Volts
double battery_current; // Amps
double battery_remaining; // Ah, if non-zero capacity
@ -244,6 +245,12 @@ public:
AP_Int8 freeze; // freeze baro to last recorded altitude
AP_Int8 disable; // disable simulated barometers
AP_Int16 delay; // barometer data delay in ms
// wind coefficients
AP_Float wcof_xp;
AP_Float wcof_xn;
AP_Float wcof_yp;
AP_Float wcof_yn;
};
BaroParm baro[BARO_MAX_INSTANCES];