mirror of
https://github.com/ArduPilot/ardupilot
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2bed1dcfd5
this adds register level emulation of the ADS7844 and the RC input/output hardware on the APM1, allowing for SITL testing without enabling HIL in the code
37 lines
632 B
C++
37 lines
632 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 <APM_BMP085.h> // ArduPilot Mega BMP085 Library
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#include "desktop.h"
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#include "util.h"
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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 APM_BMP085_HIL_Class barometer;
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double Temp, Press, y;
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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;
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barometer.setHIL(Temp, Press);
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}
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