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support simulated airspeed

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tumbili
2015-09-04 17:01:33 +02:00
committed by Lorenz Meier
parent b2bef75bb4
commit 0fe272c9b3
3 changed files with 27 additions and 1 deletions
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src/modules/simulator/simulator_mavlink.cpp
+7 -1
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@@ -187,11 +187,17 @@ void Simulator::update_sensors(mavlink_hil_sensor_t *imu) {
RawBaroData baro;
// calculate air pressure from altitude (valid for low altitude)
baro.pressure = PRESS_GROUND - GRAVITY * DENSITY * imu->pressure_alt;
baro.pressure = (PRESS_GROUND - GRAVITY * DENSITY * imu->pressure_alt) / 100.0f; // convert from Pa to mbar
baro.altitude = imu->pressure_alt;
baro.temperature = imu->temperature;
write_baro_data((void *)&baro);
RawAirspeedData airspeed;
airspeed.temperature = imu->temperature;
airspeed.diff_pressure = imu->diff_pressure;
write_airspeed_data((void *)&airspeed);
}
void Simulator::update_gps(mavlink_hil_gps_t *gps_sim) {