mirror of https://github.com/ArduPilot/ardupilot
78 lines
2.9 KiB
C++
78 lines
2.9 KiB
C++
/*
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This program is free software: you can redistribute it and/or modify
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it under the terms of the GNU General Public License as published by
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the Free Software Foundation, either version 3 of the License, or
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(at your option) any later version.
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This program is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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GNU General Public License for more details.
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You should have received a copy of the GNU General Public License
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along with this program. If not, see <http://www.gnu.org/licenses/>.
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*/
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#include "AP_WindVane_SITL.h"
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// constructor
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AP_WindVane_SITL::AP_WindVane_SITL(AP_WindVane &frontend) :
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AP_WindVane_Backend(frontend)
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{
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}
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#if CONFIG_HAL_BOARD == HAL_BOARD_SITL
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void AP_WindVane_SITL::update_direction()
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{
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if (_frontend._direction_type == _frontend.WindVaneType::WINDVANE_SITL_TRUE) {
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// read in the true wind direction and calculate the apparent
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// temporarily store true speed and direction for easy access
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const float wind_speed = AP::sitl()->wind_speed_active;
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const float wind_dir_rad = radians(AP::sitl()->wind_direction_active);
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// Note than the SITL wind direction is defined as the direction the wind is traveling to
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// This is accounted for in these calculations
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// convert true wind speed and direction into a 2D vector
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Vector2f wind_vector_ef(cosf(wind_dir_rad) * wind_speed, sinf(wind_dir_rad) * wind_speed);
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// add vehicle speed to get apparent wind vector
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wind_vector_ef.x += AP::sitl()->state.speedN;
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wind_vector_ef.y += AP::sitl()->state.speedE;
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direction_update_frontend(atan2f(wind_vector_ef.y, wind_vector_ef.x));
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} else { // WINDVANE_SITL_APARRENT
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// directly read the apparent wind from as set by physics backend
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direction_update_frontend(AP::sitl()->get_apparent_wind_dir());
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}
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}
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void AP_WindVane_SITL::update_speed()
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{
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if (_frontend._speed_sensor_type == _frontend.Speed_type::WINDSPEED_SITL_TRUE) {
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// read in the true wind direction and calculate the apparent
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// temporarily store true speed and direction for easy access
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const float wind_speed = AP::sitl()->wind_speed_active;
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const float wind_dir_rad = radians(AP::sitl()->wind_direction_active);
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// convert true wind speed and direction into a 2D vector
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Vector2f wind_vector_ef(cosf(wind_dir_rad) * wind_speed, sinf(wind_dir_rad) * wind_speed);
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// add vehicle speed to get apparent wind vector
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wind_vector_ef.x += AP::sitl()->state.speedN;
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wind_vector_ef.y += AP::sitl()->state.speedE;
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speed_update_frontend(wind_vector_ef.length());
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} else { // WINDSPEED_SITL_APARRENT
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// directly read the apparent wind from as set by physics backend
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speed_update_frontend(AP::sitl()->get_apparent_wind_spd());
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}
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}
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#endif
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