From 65183887e553d595cea0c1d604677993e88cb4eb Mon Sep 17 00:00:00 2001 From: Andrew Tridgell Date: Thu, 2 May 2013 15:27:27 +1000 Subject: [PATCH] SITL: use new baro setHIL method --- libraries/AP_HAL_AVR_SITL/sitl_barometer.cpp | 12 +----------- 1 file changed, 1 insertion(+), 11 deletions(-) diff --git a/libraries/AP_HAL_AVR_SITL/sitl_barometer.cpp b/libraries/AP_HAL_AVR_SITL/sitl_barometer.cpp index f693bc3d11..d1d2920868 100644 --- a/libraries/AP_HAL_AVR_SITL/sitl_barometer.cpp +++ b/libraries/AP_HAL_AVR_SITL/sitl_barometer.cpp @@ -29,7 +29,6 @@ extern const AP_HAL::HAL& hal; */ void SITL_State::_update_barometer(float altitude) { - double Temp, Press, y; static uint32_t last_update; if (_barometer == NULL) { @@ -43,16 +42,7 @@ void SITL_State::_update_barometer(float altitude) } last_update = hal.scheduler->millis(); - Temp = 312; - - y = ((altitude-584.0) * 1000.0) / 29271.267; - y /= (Temp / 10.0) + 273.15; - y = 1.0/exp(y); - y *= 95446.0; - - Press = y + (_rand_float() * _sitl->baro_noise); - - _barometer->setHIL(Temp, Press); + _barometer->setHIL(altitude); } #endif