Mirror
/
ardupilot
mirror of https://github.com/ArduPilot/ardupilot
5
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity

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
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

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)
{
@ -192,6 +195,10 @@ static void sitl_simulator_output(void)
// the registers are 2x the PWM value
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));
}

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

@ -8,10 +8,14 @@
#include <stdlib.h>
#define NOISE_BITS 4
#define NOISE_BITS 8
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);
noise -= 0.5*(1<<NOISE_BITS);
return noise;