mirror of https://github.com/ArduPilot/ardupilot
76 lines
1.7 KiB
C++
76 lines
1.7 KiB
C++
/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
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#include <AP_Baro.h>
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#include "AP_Baro_HIL.h"
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#include <AP_HAL.h>
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extern const AP_HAL::HAL& hal;
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// Public Methods //////////////////////////////////////////////////////////////
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bool AP_Baro_HIL::init()
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{
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BMP085_State=1;
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return true;
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}
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// Read the sensor. This is a state machine
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// We read one time Temperature (state = 1) and then 4 times Pressure (states 2-5)
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uint8_t AP_Baro_HIL::read()
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{
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uint8_t result = 0;
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if (_count != 0) {
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result = 1;
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Press = ((float)_pressure_sum) / _count;
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Temp = ((float)_temperature_sum) / _count;
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_pressure_samples = _count;
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_count = 0;
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_pressure_sum = 0;
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_temperature_sum = 0;
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}
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return result;
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}
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void AP_Baro_HIL::setHIL(float altitude_msl)
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{
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// approximate a barometer. This uses the typical base pressure in
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// Canberra, Australia
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const float temperature = 312;
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float y = (altitude_msl - 584.0) / 29.271267;
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y /= (temperature / 10.0) + 273.15;
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y = 1.0/exp(y);
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y *= 95446.0;
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_count++;
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_pressure_sum += y;
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_temperature_sum += temperature;
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if (_count == 128) {
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// we have summed 128 values. This only happens
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// when we stop reading the barometer for a long time
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// (more than 1.2 seconds)
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_count = 64;
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_pressure_sum /= 2;
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_temperature_sum /= 2;
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}
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healthy = true;
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_last_update = hal.scheduler->millis();
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}
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float AP_Baro_HIL::get_pressure() {
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return Press;
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}
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float AP_Baro_HIL::get_temperature() {
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return Temp;
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}
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int32_t AP_Baro_HIL::get_raw_pressure() {
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return Press;
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}
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int32_t AP_Baro_HIL::get_raw_temp() {
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return Temp;
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}
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