mirror of https://github.com/ArduPilot/ardupilot
74 lines
2.1 KiB
C++
74 lines
2.1 KiB
C++
#include "SIM_Airspeed_DLVR.h"
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#include "SITL.h"
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int SITL::Airspeed_DLVR::rdwr(I2C::i2c_rdwr_ioctl_data *&data)
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{
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struct I2C::i2c_msg &msg = data->msgs[0];
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if (msg.flags == I2C_M_RD) {
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// driver is attempting to receive reading...
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if (msg.len != 4) {
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AP_HAL::panic("Unexpected message length (%u)", msg.len);
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}
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uint8_t status = 0;
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if (last_sent_ms == last_update_ms) {
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status |= 0b10;
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}
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last_sent_ms = last_update_ms;
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// if (electrical_fault_or_bad_config) {
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// status |= 0b11;
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// }
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// calculation of packed-pressure value:
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// this is TYPE_I2C_DLVR_5IN
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const uint8_t range_inH2O = 5;
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#define DLVR_OFFSET 8192.0f
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#define DLVR_SCALE 16384.0f
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// const float pressure_pascals = 1555.2f; // maximum transportable
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const float press_h2o = pressure * (1.0f/INCH_OF_H2O_TO_PASCAL);
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const uint32_t pressure_raw = ((press_h2o / (1.25f * 2.0f * range_inH2O)) * DLVR_SCALE) + DLVR_OFFSET;
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// calculation of packed-temperature value
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const uint32_t temp_raw = (temperature + 50.0f) * (2047.0f/200.0f);
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const uint32_t packed =
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(status << 30) |
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((pressure_raw & 0x3fff) << 16) |
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((temp_raw & 0x7ff) << 5);
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msg.buf[0] = (packed >> 24) & 0xff;
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msg.buf[1] = (packed >> 16) & 0xff;
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msg.buf[2] = (packed >> 8) & 0xff;
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msg.buf[3] = (packed >> 0) & 0xff;
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return 0;
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}
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AP_HAL::panic("Should never be written to");
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}
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void SITL::Airspeed_DLVR::update(const class Aircraft &aircraft)
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{
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const uint32_t now_ms = AP_HAL::millis();
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if (now_ms - last_update_ms < 50) { // 20Hz
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return;
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}
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last_update_ms = now_ms;
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pressure = AP::sitl()->state.airspeed_raw_pressure[0];
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float sim_alt = AP::sitl()->state.altitude;
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sim_alt += 2 * rand_float();
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float sigma, delta, theta;
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AP_Baro::SimpleAtmosphere(sim_alt * 0.001f, sigma, delta, theta);
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// To Do: Add a sensor board temperature offset parameter
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temperature = (KELVIN_TO_C(SSL_AIR_TEMPERATURE * theta)) + 25.0;
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}
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