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simulator: temperature only updated with baro

This commit is contained in:
Daniel Agar 2020-05-06 14:59:10 -04:00
parent 9963bb6c40
commit 7207301e56
1 changed files with 12 additions and 4 deletions
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16
src/modules/simulator/simulator_mavlink.cpp
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@ -193,27 +193,35 @@ void Simulator::send_controls()
void Simulator::update_sensors(const hrt_abstime &time, const mavlink_hil_sensor_t &sensors)
{
// temperature only updated with baro
if ((sensors.fields_updated & SensorSource::BARO) == SensorSource::BARO) {
float temperature = sensors.temperature;
if (PX4_ISFINITE(temperature)) {
_px4_accel.set_temperature(temperature);
_px4_baro.set_temperature(temperature);
_px4_gyro.set_temperature(temperature);
_px4_mag.set_temperature(temperature);
}
}
// gyro
if ((sensors.fields_updated & SensorSource::GYRO) == SensorSource::GYRO && !_param_sim_gyro_block.get()) {
_px4_gyro.set_temperature(sensors.temperature);
_px4_gyro.update(time, sensors.xgyro, sensors.ygyro, sensors.zgyro);
}
// accel
if ((sensors.fields_updated & SensorSource::ACCEL) == SensorSource::ACCEL && !_param_sim_accel_block.get()) {
_px4_accel.set_temperature(sensors.temperature);
_px4_accel.update(time, sensors.xacc, sensors.yacc, sensors.zacc);
}
// magnetometer
if ((sensors.fields_updated & SensorSource::MAG) == SensorSource::MAG && !_param_sim_mag_block.get()) {
_px4_mag.set_temperature(sensors.temperature);
_px4_mag.update(time, sensors.xmag, sensors.ymag, sensors.zmag);
}
// baro
if ((sensors.fields_updated & SensorSource::BARO) == SensorSource::BARO && !_param_sim_baro_block.get()) {
_px4_baro.set_temperature(sensors.temperature);
_px4_baro.update(time, sensors.abs_pressure);
}