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AP_HAL_SITL: remove unused/unimplemented methods/vars, tidy namespacing

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Peter Barker 2021-10-27 11:48:23 +11:00 committed by Peter Barker
parent 7f0bf89003
commit 02dc42275c
4 changed files with 9 additions and 16 deletions
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5
libraries/AP_HAL_SITL/SITL_State.cpp
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@ -72,9 +72,6 @@ void SITL_State::_sitl_setup(const char *home_str)
// find the barometer object if it exists // find the barometer object if it exists
_sitl = AP::sitl(); _sitl = AP::sitl();
_barometer = AP_Baro::get_singleton();
_ins = AP_InertialSensor::get_singleton();
_compass = Compass::get_singleton();
if (_sitl != nullptr) { if (_sitl != nullptr) {
// setup some initial values // setup some initial values
@ -828,7 +825,7 @@ void SITL_State::_simulator_servos(struct sitl_input &input)
uint32_t now = AP_HAL::micros(); uint32_t now = AP_HAL::micros();
last_update_usec = now; last_update_usec = now;
float altitude = _barometer?_barometer->get_altitude():0; float altitude = AP::baro().get_altitude();
float wind_speed = 0; float wind_speed = 0;
float wind_direction = 0; float wind_direction = 0;
float wind_dir_z = 0; float wind_dir_z = 0;

4
libraries/AP_HAL_SITL/SITL_State.h
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@ -77,7 +77,6 @@ public:
Blimp Blimp
}; };
ssize_t gps_read(int fd, void *buf, size_t count);
uint16_t pwm_output[SITL_NUM_CHANNELS]; uint16_t pwm_output[SITL_NUM_CHANNELS];
uint16_t pwm_input[SITL_RC_INPUT_CHANNELS]; uint16_t pwm_input[SITL_RC_INPUT_CHANNELS];
bool output_ready = false; bool output_ready = false;
@ -162,10 +161,7 @@ private:
pid_t _parent_pid; pid_t _parent_pid;
uint32_t _update_count; uint32_t _update_count;
AP_Baro *_barometer;
AP_InertialSensor *_ins;
Scheduler *_scheduler; Scheduler *_scheduler;
Compass *_compass;
SocketAPM _sitl_rc_in{true}; SocketAPM _sitl_rc_in{true};
SITL::SIM *_sitl; SITL::SIM *_sitl;

12
libraries/AP_HAL_SITL/UARTDriver.h
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@ -56,12 +56,6 @@ public:
size_t write(uint8_t c) override; size_t write(uint8_t c) override;
size_t write(const uint8_t *buffer, size_t size) override; size_t write(const uint8_t *buffer, size_t size) override;
// file descriptor, exposed so SITL_State::loop_hook() can use it
int _fd;
// file descriptor for reading multicast packets
int _mc_fd;
bool _unbuffered_writes; bool _unbuffered_writes;
enum flow_control get_flow_control(void) override { return FLOW_CONTROL_ENABLE; } enum flow_control get_flow_control(void) override { return FLOW_CONTROL_ENABLE; }
@ -88,6 +82,12 @@ public:
uint64_t receive_time_constraint_us(uint16_t nbytes) override; uint64_t receive_time_constraint_us(uint16_t nbytes) override;
private: private:
int _fd;
// file descriptor for reading multicast packets
int _mc_fd;
uint8_t _portNumber; uint8_t _portNumber;
bool _connected = false; // true if a client has connected bool _connected = false; // true if a client has connected
bool _use_send_recv = false; bool _use_send_recv = false;

4
libraries/AP_HAL_SITL/sitl_airspeed.cpp
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@ -45,13 +45,13 @@ void SITL_State::_update_airspeed(float airspeed)
if (!is_zero(_sitl->arspd_fail_pressure[0])) { if (!is_zero(_sitl->arspd_fail_pressure[0])) {
// compute a realistic pressure report given some level of trapper air pressure in the tube and our current altitude // compute a realistic pressure report given some level of trapper air pressure in the tube and our current altitude
// algorithm taken from https://en.wikipedia.org/wiki/Calibrated_airspeed#Calculation_from_impact_pressure // algorithm taken from https://en.wikipedia.org/wiki/Calibrated_airspeed#Calculation_from_impact_pressure
float tube_pressure = fabsf(_sitl->arspd_fail_pressure[0] - _barometer->get_pressure() + _sitl->arspd_fail_pitot_pressure[0]); float tube_pressure = fabsf(_sitl->arspd_fail_pressure[0] - AP::baro().get_pressure() + _sitl->arspd_fail_pitot_pressure[0]);
airspeed = 340.29409348 * sqrt(5 * (pow((tube_pressure / SSL_AIR_PRESSURE + 1), 2.0/7.0) - 1.0)); airspeed = 340.29409348 * sqrt(5 * (pow((tube_pressure / SSL_AIR_PRESSURE + 1), 2.0/7.0) - 1.0));
} }
if (!is_zero(_sitl->arspd_fail_pressure[1])) { if (!is_zero(_sitl->arspd_fail_pressure[1])) {
// compute a realistic pressure report given some level of trapper air pressure in the tube and our current altitude // compute a realistic pressure report given some level of trapper air pressure in the tube and our current altitude
// algorithm taken from https://en.wikipedia.org/wiki/Calibrated_airspeed#Calculation_from_impact_pressure // algorithm taken from https://en.wikipedia.org/wiki/Calibrated_airspeed#Calculation_from_impact_pressure
float tube_pressure = fabsf(_sitl->arspd_fail_pressure[1] - _barometer->get_pressure() + _sitl->arspd_fail_pitot_pressure[1]); float tube_pressure = fabsf(_sitl->arspd_fail_pressure[1] - AP::baro().get_pressure() + _sitl->arspd_fail_pitot_pressure[1]);
airspeed2 = 340.29409348 * sqrt(5 * (pow((tube_pressure / SSL_AIR_PRESSURE + 1), 2.0/7.0) - 1.0)); airspeed2 = 340.29409348 * sqrt(5 * (pow((tube_pressure / SSL_AIR_PRESSURE + 1), 2.0/7.0) - 1.0));
} }