mirror of https://github.com/ArduPilot/ardupilot
63 lines
1.0 KiB
C++
63 lines
1.0 KiB
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 <AP_HAL.h>
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#include <AP_Math.h>
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#if CONFIG_HAL_BOARD == HAL_BOARD_AVR_SITL
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#include "AP_HAL_AVR_SITL.h"
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using namespace AVR_SITL;
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extern const AP_HAL::HAL& hal;
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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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/*
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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_State::_update_barometer(float altitude)
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{
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static uint32_t last_update;
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float sim_alt = altitude;
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if (_barometer == NULL) {
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// this sketch doesn't use a barometer
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return;
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}
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if (_sitl->baro_disable) {
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// barometer is disabled
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return;
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}
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// 80Hz, to match the real APM2 barometer
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uint32_t now = hal.scheduler->millis();
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if ((now - last_update) < 12) {
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return;
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}
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last_update = now;
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sim_alt += _sitl->baro_drift * now / 1000;
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sim_alt += _sitl->baro_noise * _rand_float();
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// add baro glitch
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sim_alt += _sitl->baro_glitch;
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_barometer->setHIL(sim_alt);
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}
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#endif
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