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SITL: raise the ADC noise level to 8 bits when flying 

this is about the level of noise of a aircraft that has a lot of
vibration
This commit is contained in:
Andrew Tridgell 2012-02-27 19:29:45 +11:00
parent cd4fcb694e
commit efe5c0142c
2 changed files with 13 additions and 2 deletions
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9
libraries/Desktop/support/sitl.cpp
View File

@ -157,8 +157,11 @@ static void sitl_fdm_input(void)
} }
// used for noise generation in the ADC code
bool sitl_motor_running = false;
/* /*
send RC outputs to simulator for a quadcopter send RC outputs to simulator
*/ */
static void sitl_simulator_output(void) static void sitl_simulator_output(void)
{ {
@ -192,6 +195,10 @@ static void sitl_simulator_output(void)
// the registers are 2x the PWM value // the registers are 2x the PWM value
pwm[i] = (*reg[i])/2; pwm[i] = (*reg[i])/2;
} }
// use pwm3 as a proxy for if the motor is running
sitl_motor_running = (pwm[2]>1200);
sendto(sitl_fd, (void*)pwm, sizeof(pwm), MSG_DONTWAIT, (const sockaddr *)&rcout_addr, sizeof(rcout_addr)); sendto(sitl_fd, (void*)pwm, sizeof(pwm), MSG_DONTWAIT, (const sockaddr *)&rcout_addr, sizeof(rcout_addr));
} }

6
libraries/Desktop/support/sitl_adc.h
View File

@ -8,10 +8,14 @@
#include <stdlib.h> #include <stdlib.h>
#define NOISE_BITS 4 #define NOISE_BITS 8
static inline float noise_generator(void) static inline float noise_generator(void)
{ {
extern bool sitl_motor_running;
if (!sitl_motor_running) {
return 0;
}
float noise = ((unsigned)random()) & ((1<<NOISE_BITS)-1); float noise = ((unsigned)random()) & ((1<<NOISE_BITS)-1);
noise -= 0.5*(1<<NOISE_BITS); noise -= 0.5*(1<<NOISE_BITS);
return noise; return noise;