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SITL: TSYS01 add sim temperature based on altitude

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This commit is contained in:
Joshua Henderson 2022-02-11 01:25:29 -05:00 committed by Andrew Tridgell
parent ed5a0557ca
commit 3fdf87a6c7
2 changed files with 17 additions and 4 deletions
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18
libraries/SITL/SIM_Temperature_TSYS01.cpp
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@ -175,9 +175,10 @@ void SITL::TSYS01::update(const class Aircraft &aircraft)
break;
case State::CONVERTING:
if (time_in_state_ms() > 5) {
if (!is_equal(last_temperature, some_temperature)) {
last_temperature = some_temperature;
adc = calculate_adc(some_temperature);
const float temperature = get_sim_temperature();
if (!is_equal(last_temperature, temperature)) {
last_temperature = temperature;
adc = calculate_adc(temperature);
}
set_state(State::CONVERTED);
}
@ -187,3 +188,14 @@ void SITL::TSYS01::update(const class Aircraft &aircraft)
}
}
float SITL::TSYS01::get_sim_temperature() const
{
float sim_alt = AP::sitl()->state.altitude;
sim_alt += 2 * rand_float();
float sigma, delta, theta;
AP_Baro::SimpleAtmosphere(sim_alt * 0.001f, sigma, delta, theta);
// To Do: Add a sensor board temperature offset parameter
return (KELVIN_TO_C(SSL_AIR_TEMPERATURE * theta)) + 25.0;
}

3
libraries/SITL/SIM_Temperature_TSYS01.h
View File

@ -20,7 +20,6 @@ public:
private:
// should be a call on aircraft:
float some_temperature = 26.5;
float last_temperature = -1000.0f;
enum class State {
@ -42,6 +41,8 @@ private:
return AP_HAL::millis() - state_start_time_ms;
}
float get_sim_temperature() const;
float temperature_for_adc(uint32_t adc) const;
uint32_t calculate_adc(float temperature) const;
uint32_t adc;