mirror of https://github.com/ArduPilot/ardupilot
53 lines
1.1 KiB
C++
53 lines
1.1 KiB
C++
#pragma once
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#include "AP_Baro_Backend.h"
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#if AP_SIM_BARO_ENABLED
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#include <AP_Math/vectorN.h>
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#include <SITL/SITL.h>
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class AP_Baro_SITL : public AP_Baro_Backend {
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public:
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AP_Baro_SITL(AP_Baro &);
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void update() override;
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protected:
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void update_healthy_flag(uint8_t instance) override { _frontend.sensors[instance].healthy = healthy(instance); };
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private:
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uint8_t _instance;
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SITL::SIM *_sitl;
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// barometer delay buffer variables
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struct readings_baro {
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uint32_t time;
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float data;
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};
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uint8_t _store_index;
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uint32_t _last_store_time;
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static const uint8_t _buffer_length = 50;
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VectorN<readings_baro, _buffer_length> _buffer;
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// adjust for simulated board temperature
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void temperature_adjustment(float &p, float &T);
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// adjust for wind effects
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float wind_pressure_correction(void);
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// is the barometer usable for flight
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bool healthy(uint8_t instance);
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void _timer();
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bool _has_sample;
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uint32_t _last_sample_time;
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float _recent_temp;
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float _recent_press;
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float _last_altitude;
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};
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#endif // AP_SIM_BARO_ENABLED
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