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AP_InertialSensor: scale SITL motor noise by SIM_VIB_MOT_MULT

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Andy Piper 2020-01-28 22:27:03 +00:00 committed by Andrew Tridgell
parent 2033cf3b4a
commit 41b41c05f3
1 changed files with 6 additions and 6 deletions
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12
libraries/AP_InertialSensor/AP_InertialSensor_SITL.cpp
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@ -100,9 +100,9 @@ void AP_InertialSensor_SITL::generate_accel()
else if (phase_incr < -M_PI) {
phase += 2 * M_PI;
}
xAccel += sinf(phase) * calculate_noise(accel_noise, noise_variation);
yAccel += sinf(phase) * calculate_noise(accel_noise, noise_variation);
zAccel += sinf(phase) * calculate_noise(accel_noise, noise_variation);
xAccel += sinf(phase) * calculate_noise(accel_noise * sitl->vibe_motor_scale, noise_variation);
yAccel += sinf(phase) * calculate_noise(accel_noise * sitl->vibe_motor_scale, noise_variation);
zAccel += sinf(phase) * calculate_noise(accel_noise * sitl->vibe_motor_scale, noise_variation);
}
}
@ -199,9 +199,9 @@ void AP_InertialSensor_SITL::generate_gyro()
else if (phase_incr < -M_PI) {
phase += 2 * M_PI;
}
p += sinf(phase) * calculate_noise(gyro_noise, noise_variation);
q += sinf(phase) * calculate_noise(gyro_noise, noise_variation);
r += sinf(phase) * calculate_noise(gyro_noise, noise_variation);
p += sinf(phase) * calculate_noise(gyro_noise * sitl->vibe_motor_scale, noise_variation);
q += sinf(phase) * calculate_noise(gyro_noise * sitl->vibe_motor_scale, noise_variation);
r += sinf(phase) * calculate_noise(gyro_noise * sitl->vibe_motor_scale, noise_variation);
}
}