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AP_Baro: Add BARO_TYPE_WATER model to SITL when running for ArduSub

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Signed-off-by: Patrick José Pereira <patrickelectric@gmail.com>
This commit is contained in:
Patrick José Pereira 2018-05-07 16:24:57 -03:00 committed by Jacob Walser
parent c7f832e81f
commit cc590ee587
1 changed files with 13 additions and 1 deletions
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14
libraries/AP_Baro/AP_Baro_SITL.cpp
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@ -1,4 +1,5 @@
#include <AP_HAL/AP_HAL.h> #include <AP_HAL/AP_HAL.h>
#include <AP_Vehicle/AP_Vehicle_Type.h>
#if CONFIG_HAL_BOARD == HAL_BOARD_SITL #if CONFIG_HAL_BOARD == HAL_BOARD_SITL
@ -16,6 +17,9 @@ AP_Baro_SITL::AP_Baro_SITL(AP_Baro &baro) :
_sitl = (SITL::SITL *)AP_Param::find_object("SIM_"); _sitl = (SITL::SITL *)AP_Param::find_object("SIM_");
if (_sitl != nullptr) { if (_sitl != nullptr) {
_instance = _frontend.register_sensor(); _instance = _frontend.register_sensor();
#if APM_BUILD_TYPE(APM_BUILD_ArduSub)
_frontend.set_type(_instance, AP_Baro::BARO_TYPE_WATER);
#endif
hal.scheduler->register_timer_process(FUNCTOR_BIND(this, &AP_Baro_SITL::_timer, void)); hal.scheduler->register_timer_process(FUNCTOR_BIND(this, &AP_Baro_SITL::_timer, void));
} }
} }
@ -94,14 +98,22 @@ void AP_Baro_SITL::_timer()
sim_alt = _buffer[best_index].data; sim_alt = _buffer[best_index].data;
} }
float sigma, delta, theta;
const float p0 = 101325.0f; const float p0 = 101325.0f;
#if !APM_BUILD_TYPE(APM_BUILD_ArduSub)
float sigma, delta, theta;
AP_Baro::SimpleAtmosphere(sim_alt * 0.001f, sigma, delta, theta); AP_Baro::SimpleAtmosphere(sim_alt * 0.001f, sigma, delta, theta);
float p = p0 * delta; float p = p0 * delta;
float T = 303.16f * theta - 273.16f; // Assume 30 degrees at sea level - converted to degrees Kelvin float T = 303.16f * theta - 273.16f; // Assume 30 degrees at sea level - converted to degrees Kelvin
temperature_adjustment(p, T); temperature_adjustment(p, T);
#else
float rho, delta, theta;
AP_Baro::SimpleUnderWaterAtmosphere(-sim_alt * 0.001f, rho, delta, theta);
float p = p0 * delta;
float T = 303.16f * theta - 273.16f; // Assume 30 degrees at sea level - converted to degrees Kelvin
#endif
_recent_press = p; _recent_press = p;
_recent_temp = T; _recent_temp = T;