ardupilot/libraries/AP_Baro/AP_Baro_SITL.h

53 lines
1.1 KiB
C++

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