From b7f68e87b4c61886a1dd5527659db4c8b06f8565 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Wed, 25 Nov 2020 13:44:46 +1100
Subject: [PATCH] SITL: added barometer wind coefficients

---
 libraries/SITL/SIM_Aircraft.cpp | 1 +
 libraries/SITL/SITL.cpp         | 6 ++++++
 libraries/SITL/SITL.h           | 7 +++++++
 3 files changed, 14 insertions(+)

diff --git a/libraries/SITL/SIM_Aircraft.cpp b/libraries/SITL/SIM_Aircraft.cpp
index 019290a5e2..f09bf66f00 100644
--- a/libraries/SITL/SIM_Aircraft.cpp
+++ b/libraries/SITL/SIM_Aircraft.cpp
@@ -349,6 +349,7 @@ void Aircraft::fill_fdm(struct sitl_fdm &fdm)
     fdm.yawDeg   = degrees(y);
     fdm.quaternion.from_rotation_matrix(dcm);
     fdm.airspeed = airspeed_pitot;
+    fdm.velocity_air_bf = velocity_air_bf;
     fdm.battery_voltage = battery_voltage;
     fdm.battery_current = battery_current;
     fdm.num_motors = num_motors;
diff --git a/libraries/SITL/SITL.cpp b/libraries/SITL/SITL.cpp
index 93debdfa62..848d528222 100644
--- a/libraries/SITL/SITL.cpp
+++ b/libraries/SITL/SITL.cpp
@@ -269,6 +269,12 @@ const AP_Param::GroupInfo SITL::BaroParm::var_info[] = {
     AP_GROUPINFO("GLITCH",   4, SITL::BaroParm,  glitch, 0),
     AP_GROUPINFO("FREEZE",   5, SITL::BaroParm,  freeze, 0),
     AP_GROUPINFO("DELAY",    6, SITL::BaroParm,  delay, 0),
+
+    // wind coeffients
+    AP_GROUPINFO("WCF_FWD", 7,  SITL::BaroParm, wcof_xp, 0.0),
+    AP_GROUPINFO("WCF_BAK", 8,  SITL::BaroParm, wcof_xn, 0.0),
+    AP_GROUPINFO("WCF_RGT", 9,  SITL::BaroParm, wcof_yp, 0.0),
+    AP_GROUPINFO("WCF_LFT", 10, SITL::BaroParm, wcof_yn, 0.0),
     AP_GROUPEND
 };
     
diff --git a/libraries/SITL/SITL.h b/libraries/SITL/SITL.h
index e71305e40c..7db9b1c962 100644
--- a/libraries/SITL/SITL.h
+++ b/libraries/SITL/SITL.h
@@ -54,6 +54,7 @@ struct sitl_fdm {
     double rollDeg, pitchDeg, yawDeg;    // euler angles, degrees
     Quaternion quaternion;
     double airspeed; // m/s
+    Vector3f velocity_air_bf; // velocity relative to airmass, body frame
     double battery_voltage; // Volts
     double battery_current; // Amps
     double battery_remaining; // Ah, if non-zero capacity
@@ -244,6 +245,12 @@ public:
         AP_Int8  freeze; // freeze baro to last recorded altitude
         AP_Int8  disable; // disable simulated barometers
         AP_Int16 delay;  // barometer data delay in ms
+
+        // wind coefficients
+        AP_Float wcof_xp;
+        AP_Float wcof_xn;
+        AP_Float wcof_yp;
+        AP_Float wcof_yn;
     };
     BaroParm baro[BARO_MAX_INSTANCES];