From 96d8a4f089cd84dcfcc436b7689143271ea177cc Mon Sep 17 00:00:00 2001 From: Balduin Date: Mon, 27 Jan 2025 10:16:51 +0100 Subject: [PATCH] format --- .../simulation/sensor_airspeed_sim/SensorAirspeedSim.cpp | 1 + src/modules/simulation/sensor_baro_sim/SensorBaroSim.cpp | 3 ++- src/modules/simulation/sensor_gps_sim/SensorGpsSim.cpp | 8 +++++--- 3 files changed, 8 insertions(+), 4 deletions(-) diff --git a/src/modules/simulation/sensor_airspeed_sim/SensorAirspeedSim.cpp b/src/modules/simulation/sensor_airspeed_sim/SensorAirspeedSim.cpp index 13dbe45479..74f2d5c3f4 100644 --- a/src/modules/simulation/sensor_airspeed_sim/SensorAirspeedSim.cpp +++ b/src/modules/simulation/sensor_airspeed_sim/SensorAirspeedSim.cpp @@ -174,6 +174,7 @@ void SensorAirspeedSim::check_failure_injection() const int failure_type = static_cast(vehicle_command.param2 + 0.5f); if (failure_unit == vehicle_command_s::FAILURE_UNIT_SENSOR_AIRSPEED) { + handled = true; if (failure_type == vehicle_command_s::FAILURE_TYPE_OFF) { diff --git a/src/modules/simulation/sensor_baro_sim/SensorBaroSim.cpp b/src/modules/simulation/sensor_baro_sim/SensorBaroSim.cpp index b00c6446e5..d30c31183f 100644 --- a/src/modules/simulation/sensor_baro_sim/SensorBaroSim.cpp +++ b/src/modules/simulation/sensor_baro_sim/SensorBaroSim.cpp @@ -149,7 +149,8 @@ void SensorBaroSim::Run() } else { // no need to repeat the calculation - use the second value from last update y1 = _baro_rnd_y2; - _baro_rnd_use_last = false; } + _baro_rnd_use_last = false; + } } // Apply noise and drift diff --git a/src/modules/simulation/sensor_gps_sim/SensorGpsSim.cpp b/src/modules/simulation/sensor_gps_sim/SensorGpsSim.cpp index 48f418e08d..b4fb7f527a 100644 --- a/src/modules/simulation/sensor_gps_sim/SensorGpsSim.cpp +++ b/src/modules/simulation/sensor_gps_sim/SensorGpsSim.cpp @@ -121,8 +121,10 @@ void SensorGpsSim::Run() _vehicle_global_position_sub.copy(&gpos); float _noise_scale = _sih_noise_scale.get(); - double latitude = gpos.lat + (double) _noise_scale * math::degrees((double)generate_wgn() * 0.2 / CONSTANTS_RADIUS_OF_EARTH); - double longitude = gpos.lon + (double) _noise_scale * math::degrees((double)generate_wgn() * 0.2 / CONSTANTS_RADIUS_OF_EARTH); + double latitude = gpos.lat + (double) _noise_scale * math::degrees((double)generate_wgn() * 0.2 / + CONSTANTS_RADIUS_OF_EARTH); + double longitude = gpos.lon + (double) _noise_scale * math::degrees((double)generate_wgn() * 0.2 / + CONSTANTS_RADIUS_OF_EARTH); double altitude = (double)(gpos.alt + (_noise_scale * generate_wgn() * 0.5f)); Vector3f gps_vel = Vector3f{lpos.vx, lpos.vy, lpos.vz} + 0.1f * noiseGauss3f(0.06f, 0.077f, 0.158f); @@ -171,7 +173,7 @@ void SensorGpsSim::Run() sensor_gps.vel_e_m_s = gps_vel(1); sensor_gps.vel_d_m_s = gps_vel(2); sensor_gps.cog_rad = atan2(gps_vel(1), - gps_vel(0)); // Course over ground (NOT heading, but direction of movement), -PI..PI, (radians) + gps_vel(0)); // Course over ground (NOT heading, but direction of movement), -PI..PI, (radians) sensor_gps.timestamp_time_relative = 0; sensor_gps.heading = NAN; sensor_gps.heading_offset = NAN;