Line data    Source code

       1             : #pragma once
       2             : 
       3             : #include "AP_Baro_Backend.h"
       4             : 
       5             : #if AP_SIM_BARO_ENABLED
       6             : 
       7             : #include <AP_Math/vectorN.h>
       8             : 
       9             : #include <SITL/SITL.h>
      10             : 
      11             : class AP_Baro_SITL : public AP_Baro_Backend {
      12             : public:
      13             :     AP_Baro_SITL(AP_Baro &);
      14             : 
      15             :     void update() override;
      16             : 
      17             :     // adjust for simulated board temperature
      18             :     static void temperature_adjustment(float &p, float &T);
      19             : 
      20             :     // adjust for wind effects
      21             :     static float wind_pressure_correction(uint8_t instance);
      22             : 
      23             : protected:
      24             : 
      25     3071068 :     void update_healthy_flag(uint8_t instance) override { _frontend.sensors[instance].healthy = healthy(instance); };
      26             : 
      27             : private:
      28             :     uint8_t _instance;
      29             :     SITL::SIM *_sitl;
      30             : 
      31             :     // barometer delay buffer variables
      32             :     struct readings_baro {
      33             :         uint32_t time;
      34             :         float data;
      35             :     };
      36             :     uint8_t _store_index;
      37             :     uint32_t _last_store_time;
      38             :     static const uint8_t _buffer_length = 50;
      39             :     VectorN<readings_baro, _buffer_length> _buffer;
      40             : 
      41             :     // is the barometer usable for flight 
      42             :     bool healthy(uint8_t instance);
      43             :     
      44             :     void _timer();
      45             :     bool _has_sample;
      46             :     uint32_t _last_sample_time;
      47             :     float _recent_temp;
      48             :     float _recent_press;
      49             :     float _last_altitude;
      50             : 
      51             :     uint32_t last_drift_delta_t_ms;  // allows for integration of drift over time
      52             :     float total_alt_drift;  // integrated altitude drift in metres
      53             : };
      54             : #endif  // AP_SIM_BARO_ENABLED