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compute atmospheric pressure from altitude

This commit is contained in:
tumbili 2015-06-08 09:15:50 +02:00 committed by Mark Charlebois
parent 58e263d534
commit 8eee7ba321
1 changed files with 6 additions and 1 deletions
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7
src/modules/simulator/simulator_mavlink.cpp
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@ -43,6 +43,10 @@ using namespace simulator;
#define UDP_PORT 14550 #define UDP_PORT 14550
#define PIXHAWK_DEVICE "/dev/ttyACM0" #define PIXHAWK_DEVICE "/dev/ttyACM0"
#define PRESS_GROUND 101325.0f
#define DENSITY 1.2041f
#define GRAVITY 9.81f
static const uint8_t mavlink_message_lengths[256] = MAVLINK_MESSAGE_LENGTHS; static const uint8_t mavlink_message_lengths[256] = MAVLINK_MESSAGE_LENGTHS;
static const uint8_t mavlink_message_crcs[256] = MAVLINK_MESSAGE_CRCS; static const uint8_t mavlink_message_crcs[256] = MAVLINK_MESSAGE_CRCS;
@ -183,7 +187,8 @@ void Simulator::update_sensors(struct sensor_combined_s *sensor, mavlink_hil_sen
write_mag_data((void *)&mag); write_mag_data((void *)&mag);
RawBaroData baro; RawBaroData baro;
baro.pressure = imu->abs_pressure; // calculate air pressure from altitude (valid for low altitude)
baro.pressure = PRESS_GROUND - GRAVITY * DENSITY * imu->pressure_alt;
baro.altitude = imu->pressure_alt; baro.altitude = imu->pressure_alt;
baro.temperature = imu->temperature; baro.temperature = imu->temperature;