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AP_InertialSensor: fixed start timer for temperature in SITL 

when we are doing an autotest we want the temperature to start
climbing when we first set SIM_IMUT_FIXED=0
This commit is contained in:
Andrew Tridgell 2021-01-11 08:08:00 +11:00 committed by Peter Barker
parent 30e55d8dfc
commit d5b511f4a0
2 changed files with 6 additions and 1 deletions
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6
libraries/AP_InertialSensor/AP_InertialSensor_SITL.cpp
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@ -50,8 +50,12 @@ float AP_InertialSensor_SITL::get_temperature(void)
// user wants fixed temperature
return sitl->imu_temp_fixed;
}
uint32_t now = AP_HAL::millis();
if (temp_start_ms == 0) {
temp_start_ms = now;
}
// follow a curve with given start, end and time constant
const float tsec = AP_HAL::millis() * 0.001f;
const float tsec = (AP_HAL::millis() - temp_start_ms) * 0.001f;
const float T0 = sitl->imu_temp_start;
const float T1 = sitl->imu_temp_end;
const float tconst = sitl->imu_temp_tconst;

1
libraries/AP_InertialSensor/AP_InertialSensor_SITL.h
View File

@ -43,6 +43,7 @@ private:
float accel_time;
float gyro_motor_phase[12];
float accel_motor_phase[12];
uint32_t temp_start_ms;
static uint8_t bus_id;
};