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Copter: simplify setHIL for baro

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This commit is contained in:
Andrew Tridgell 2013-05-02 15:26:54 +10:00
parent 7cec3caf19
commit b6e3e59bc3
1 changed files with 1 additions and 41 deletions
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42
ArduCopter/GCS_Mavlink.pde
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@ -1916,15 +1916,7 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
ins.set_accel(accels);
// approximate a barometer
const float Temp = 312;
float y = (packet.alt - 584000.0) / 29271.267;
y /= (Temp / 10.0) + 273.15;
y = 1.0/exp(y);
y *= 95446.0;
barometer.setHIL(Temp, y);
barometer.setHIL(packet.alt*0.001f);
compass.setHIL(packet.roll, packet.pitch, packet.yaw);
#if HIL_MODE == HIL_MODE_ATTITUDE
@ -1948,38 +1940,6 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
pmTest1++;
break;
}
/*
* #if HIL_MODE != HIL_MODE_DISABLED
* // This is used both as a sensor and to pass the location
* // in HIL_ATTITUDE mode.
* case MAVLINK_MSG_ID_GPS_RAW:
* {
* // decode
* mavlink_gps_raw_t packet;
* mavlink_msg_gps_raw_decode(msg, &packet);
*
* // set gps hil sensor
* g_gps->setHIL(packet.usec/1000,packet.lat,packet.lon,packet.alt,
* packet.v,packet.hdg,0,0);
* break;
* }
* #endif
*/
#if HIL_MODE == HIL_MODE_SENSORS
case MAVLINK_MSG_ID_RAW_PRESSURE: //29
{
// decode
mavlink_raw_pressure_t packet;
mavlink_msg_raw_pressure_decode(msg, &packet);
// set pressure hil sensor
// TODO: check scaling
float temp = 70;
barometer.setHIL(temp,packet.press_diff1);
break;
}
#endif // HIL_MODE
#if CAMERA == ENABLED
case MAVLINK_MSG_ID_DIGICAM_CONFIGURE: