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Make all battery sensor drivers report their sample interval

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To make use of the time abstraction in the leaky integrator.
This commit is contained in:
Matthias Grob
2020-05-25 11:04:24 +02:00
parent 4dc9ca69ab
commit 88c21337fa
14 changed files with 48 additions and 22 deletions
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src/modules/simulator/simulator.h
+6 -1
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@@ -81,6 +81,8 @@
#include <v2.0/mavlink_types.h>
#include <lib/battery/battery.h>
using namespace time_literals;
//! Enumeration to use on the bitmask in HIL_SENSOR
enum class SensorSource {
ACCEL = 0b111,
@@ -193,7 +195,10 @@ private:
class SimulatorBattery : public Battery
{
public:
SimulatorBattery() : Battery(1, nullptr) {}
static constexpr uint32_t SIMLATOR_BATTERY_SAMPLE_FREQUENCY_HZ = 100; // Hz
static constexpr uint32_t SIMLATOR_BATTERY_SAMPLE_INTERVAL_US = 1_s / SIMLATOR_BATTERY_SAMPLE_FREQUENCY_HZ;
SimulatorBattery() : Battery(1, nullptr, SIMLATOR_BATTERY_SAMPLE_INTERVAL_US) {}
virtual void updateParams() override
{
src/modules/simulator/simulator_mavlink.cpp
+1 -1
View File
@@ -350,7 +350,7 @@ void Simulator::handle_message_hil_sensor(const mavlink_message_t *msg)
static uint64_t last_integration_us = 0;
// battery simulation (limit update to 100Hz)
if (hrt_elapsed_time(&_last_battery_timestamp) >= 10_ms) {
if (hrt_elapsed_time(&_last_battery_timestamp) >= SimulatorBattery::SIMLATOR_BATTERY_SAMPLE_INTERVAL_US) {
const float discharge_interval_us = _param_sim_bat_drain.get() * 1000 * 1000;