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SITL: Wire in random noise and fixed drift for the SITL barometer

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Ben Nizette 2013-11-24 20:18:33 +11:00 committed by Andrew Tridgell
parent 59a54aae20
commit f4d349eff8
1 changed files with 9 additions and 3 deletions
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12
libraries/AP_HAL_AVR_SITL/sitl_barometer.cpp
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@ -31,18 +31,24 @@ void SITL_State::_update_barometer(float altitude)
{
static uint32_t last_update;
float sim_alt = altitude;
if (_barometer == NULL) {
// this sketch doesn't use a barometer
return;
}
// 80Hz, to match the real APM2 barometer
if (hal.scheduler->millis() - last_update < 12) {
uint32_t now = hal.scheduler->millis();
if ((now - last_update) < 12) {
return;
}
last_update = hal.scheduler->millis();
last_update = now;
_barometer->setHIL(altitude);
sim_alt += _sitl->baro_drift * now / 1000;
sim_alt += _sitl->baro_noise * _rand_float();
_barometer->setHIL(sim_alt);
}
#endif