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Balduin
2025-11-24 09:09:02 -08:00
committed by Ramon Roche
parent b3c1d91408
commit 96d8a4f089
3 changed files with 8 additions and 4 deletions
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src/modules/simulation/sensor_airspeed_sim/SensorAirspeedSim.cpp
+1
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@@ -174,6 +174,7 @@ void SensorAirspeedSim::check_failure_injection()
const int failure_type = static_cast<int>(vehicle_command.param2 + 0.5f); const int failure_type = static_cast<int>(vehicle_command.param2 + 0.5f);
if (failure_unit == vehicle_command_s::FAILURE_UNIT_SENSOR_AIRSPEED) { if (failure_unit == vehicle_command_s::FAILURE_UNIT_SENSOR_AIRSPEED) {
handled = true; handled = true;
if (failure_type == vehicle_command_s::FAILURE_TYPE_OFF) { if (failure_type == vehicle_command_s::FAILURE_TYPE_OFF) {
src/modules/simulation/sensor_baro_sim/SensorBaroSim.cpp
+2 -1
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@@ -149,7 +149,8 @@ void SensorBaroSim::Run()
} else { } else {
// no need to repeat the calculation - use the second value from last update // no need to repeat the calculation - use the second value from last update
y1 = _baro_rnd_y2; y1 = _baro_rnd_y2;
_baro_rnd_use_last = false; } _baro_rnd_use_last = false;
}
} }
// Apply noise and drift // Apply noise and drift
src/modules/simulation/sensor_gps_sim/SensorGpsSim.cpp
+5 -3
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@@ -121,8 +121,10 @@ void SensorGpsSim::Run()
_vehicle_global_position_sub.copy(&gpos); _vehicle_global_position_sub.copy(&gpos);
float _noise_scale = _sih_noise_scale.get(); 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 latitude = gpos.lat + (double) _noise_scale * math::degrees((double)generate_wgn() * 0.2 /
double longitude = gpos.lon + (double) _noise_scale * math::degrees((double)generate_wgn() * 0.2 / CONSTANTS_RADIUS_OF_EARTH); 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)); 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); 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_e_m_s = gps_vel(1);
sensor_gps.vel_d_m_s = gps_vel(2); sensor_gps.vel_d_m_s = gps_vel(2);
sensor_gps.cog_rad = atan2(gps_vel(1), 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.timestamp_time_relative = 0;
sensor_gps.heading = NAN; sensor_gps.heading = NAN;
sensor_gps.heading_offset = NAN; sensor_gps.heading_offset = NAN;