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AP_Baro: adjust for new baro params in SITL

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This commit is contained in:
Andrew Tridgell 2020-11-25 12:28:11 +11:00
parent 3456bdb4eb
commit e552fd7e5a
1 changed files with 7 additions and 7 deletions
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14
libraries/AP_Baro/AP_Baro_SITL.cpp
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@ -55,16 +55,16 @@ void AP_Baro_SITL::_timer()
float sim_alt = _sitl->state.altitude;
if (_sitl->baro_disable[_instance]) {
if (_sitl->baro[_instance].disable) {
// barometer is disabled
return;
}
sim_alt += _sitl->baro_drift[_instance] * now / 1000.0f;
sim_alt += _sitl->baro_noise[_instance] * rand_float();
sim_alt += _sitl->baro[_instance].drift * now / 1000.0f;
sim_alt += _sitl->baro[_instance].noise * rand_float();
// add baro glitch
sim_alt += _sitl->baro_glitch[_instance];
sim_alt += _sitl->baro[_instance].glitch;
// add delay
uint32_t best_time_delta = 200; // initialise large time representing buffer entry closest to current time - delay.
@ -78,7 +78,7 @@ void AP_Baro_SITL::_timer()
}
// if freezed barometer, report altitude to last recorded altitude
if (_sitl->baro_freeze[_instance] == 1) {
if (_sitl->baro[_instance].freeze == 1) {
sim_alt = _last_altitude;
} else {
_last_altitude = sim_alt;
@ -90,7 +90,7 @@ void AP_Baro_SITL::_timer()
}
// return delayed measurement
const uint32_t delayed_time = now - _sitl->baro_delay; // get time corresponding to delay
const uint32_t delayed_time = now - _sitl->baro[_instance].delay; // get time corresponding to delay
// find data corresponding to delayed time in buffer
for (uint8_t i = 0; i <= _buffer_length - 1; i++) {
@ -130,7 +130,7 @@ void AP_Baro_SITL::_timer()
// unhealthy if baro is turned off or beyond supported instances
bool AP_Baro_SITL::healthy(uint8_t instance)
{
return !_sitl->baro_disable[instance];
return !_sitl->baro[instance].disable;
}
// Read the sensor