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AP_HAL_SITL: add support for airspeed failures

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Tom Pittenger 2015-07-20 17:57:03 -07:00 committed by Andrew Tridgell
parent 250dcd31a2
commit d51e6d466b
1 changed files with 2 additions and 1 deletions
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3
libraries/AP_HAL_SITL/sitl_ins.cpp
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@ -210,7 +210,8 @@ void SITL_State::_update_ins(float roll, float pitch, float yaw, // Relative
sonar_pin_value = _ground_sonar(); sonar_pin_value = _ground_sonar();
airspeed_pin_value = _airspeed_sensor(airspeed + (_sitl->aspd_noise * _rand_float())); float airspeed_simulated = (fabsf(_sitl->aspd_fail) > 1.0e-6f) ? _sitl->aspd_fail : airspeed;
airspeed_pin_value = _airspeed_sensor(airspeed_simulated + (_sitl->aspd_noise * _rand_float()));
} }
#endif #endif