mirror of https://github.com/ArduPilot/ardupilot
47 lines
847 B
C++
47 lines
847 B
C++
/*
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SITL handling
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This simulates a barometer
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Andrew Tridgell November 2011
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*/
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#include <unistd.h>
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#include <stdio.h>
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#include <stdlib.h>
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#include <stdint.h>
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#include <math.h>
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#include <AP_Baro.h> // ArduPilot Mega BMP085 Library
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#include <SITL.h>
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#include "desktop.h"
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#include "util.h"
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extern SITL sitl;
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/*
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setup the barometer with new input
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altitude is in meters
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*/
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void sitl_update_barometer(float altitude)
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{
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extern AP_Baro_BMP085_HIL barometer;
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double Temp, Press, y;
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static uint32_t last_update;
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// 80Hz, to match the real APM2 barometer
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if (millis() - last_update < 12) {
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return;
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}
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last_update = millis();
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Temp = 312;
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y = ((altitude-584.0) * 1000.0) / 29271.267;
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y /= (Temp / 10.0) + 273.15;
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y = 1.0/exp(y);
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y *= 95446.0;
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Press = y + (rand_float() * sitl.baro_noise);
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barometer.setHIL(Temp, Press);
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}
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