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AP_Baro: allow setHIL to set last update time

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This commit is contained in:
Andrew Tridgell 2016-05-05 10:36:35 +10:00
parent 1bf057be45
commit 8b7bf5cf7a
3 changed files with 13 additions and 5 deletions
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5
libraries/AP_Baro/AP_Baro.cpp
View File

@ -246,7 +246,7 @@ float AP_Baro::get_air_density_ratio(void)
// note that this relies on read() being called regularly to get new data
float AP_Baro::get_climb_rate(void)
{
if (_hil.have_crate) {
if (_hil.have_alt) {
return _hil.climb_rate;
}
// we use a 7 point derivative filter on the climb rate. This seems
@ -384,6 +384,9 @@ void AP_Baro::update(void)
if (_hil.have_alt) {
sensors[0].altitude = _hil.altitude;
}
if (_hil.have_last_update) {
sensors[0].last_update_ms = _hil.last_update_ms;
}
}
// ensure the climb rate filter is updated

5
libraries/AP_Baro/AP_Baro.h
View File

@ -106,7 +106,7 @@ public:
// HIL (and SITL) interface, setting pressure, temperature, altitude and climb_rate
// used by Replay
void setHIL(uint8_t instance, float pressure, float temperature, float altitude, float climb_rate);
void setHIL(uint8_t instance, float pressure, float temperature, float altitude, float climb_rate, uint32_t last_update_ms);
// HIL variables
struct {
@ -114,9 +114,10 @@ public:
float temperature;
float altitude;
float climb_rate;
uint32_t last_update_ms;
bool updated:1;
bool have_alt:1;
bool have_crate:1;
bool have_last_update:1;
} _hil;
// register a new sensor, claiming a sensor slot. If we are out of

8
libraries/AP_Baro/AP_Baro_HIL.cpp
View File

@ -62,7 +62,7 @@ void AP_Baro::setHIL(float altitude_msl)
/*
set HIL pressure and temperature for an instance
*/
void AP_Baro::setHIL(uint8_t instance, float pressure, float temperature, float altitude, float climb_rate)
void AP_Baro::setHIL(uint8_t instance, float pressure, float temperature, float altitude, float climb_rate, uint32_t last_update_ms)
{
if (instance >= _num_sensors) {
// invalid
@ -74,7 +74,11 @@ void AP_Baro::setHIL(uint8_t instance, float pressure, float temperature, float
_hil.climb_rate = climb_rate;
_hil.updated = true;
_hil.have_alt = true;
_hil.have_crate = true;
if (last_update_ms != 0) {
_hil.last_update_ms = last_update_ms;
_hil.have_last_update = true;
}
}
// Read the sensor