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SITL: add local_ground_variable

This commit is contained in:
Pierre Kancir 2021-02-08 13:13:19 +01:00 committed by Andrew Tridgell
parent 078a1a2b0c
commit cec82214d8
2 changed files with 7 additions and 1 deletions
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7
libraries/SITL/SIM_Aircraft.cpp
View File

@ -99,9 +99,10 @@ float Aircraft::ground_height_difference() const
sitl->terrain_enable && terrain &&
terrain->height_amsl(home, h1, false) &&
terrain->height_amsl(location, h2, false)) {
h2 += local_ground_level;
return h2 - h1;
}
return 0.0f;
return local_ground_level;
}
void Aircraft::set_precland(SIM_Precland *_precland) {
@ -510,6 +511,7 @@ void Aircraft::update_model(const struct sitl_input &input)
loc.alt = sitl->opos.alt.get() * 1.0e2;
set_start_location(loc, sitl->opos.hdg.get());
}
local_ground_level = 0.0f;
update(input);
}
@ -879,6 +881,9 @@ void Aircraft::update_external_payload(const struct sitl_input &input)
if (precland && precland->is_enabled()) {
precland->update(get_location(), get_position());
if (precland->_over_precland_base) {
local_ground_level += precland->_origin_height;
}
}
// update RichenPower generator

1
libraries/SITL/SIM_Aircraft.h
View File

@ -172,6 +172,7 @@ protected:
float airspeed_pitot; // m/s, apparent airspeed, as seen by fwd pitot tube
float battery_voltage = -1.0f;
float battery_current;
float local_ground_level; // ground level at local position
// battery model
Battery battery;