fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-04-14 10:07:39 +08:00
Code Issues Packages Projects Releases Wiki Activity

sih remove baro and use standalone sensor_baro_sim

Browse Source
This commit is contained in:
Daniel Agar 2022-08-23 16:18:15 -04:00
parent c5336abba2
commit bfe0d71a21
37 changed files with 35 additions and 43 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

1
ROMFS/px4fmu_common/init.d-posix/px4-rc.simulator
View File

@ -8,6 +8,7 @@ if [ "$PX4_SIMULATOR" = "sihsim" ] || [ "$(param show -q SYS_AUTOSTART)" -eq "0"
if simulator_sih start; then
sensor_baro_sim start
sensor_mag_sim start
else

1
ROMFS/px4fmu_common/init.d/rcS
View File

@ -344,6 +344,7 @@ else
if param compare SYS_HITL 2
then
simulator_sih start
sensor_baro_sim start
sensor_mag_sim start
fi

1
boards/airmind/mindpx-v2/default.px4board
View File

@ -71,6 +71,7 @@ CONFIG_MODULES_RC_UPDATE=y
CONFIG_MODULES_ROVER_POS_CONTROL=y
CONFIG_MODULES_SENSORS=y
CONFIG_MODULES_SIMULATION_PWM_OUT_SIM=y
CONFIG_MODULES_SIMULATION_SENSOR_BARO_SIM=y
CONFIG_MODULES_SIMULATION_SENSOR_MAG_SIM=y
CONFIG_MODULES_SIMULATION_SIMULATOR_SIH=y
CONFIG_MODULES_TEMPERATURE_COMPENSATION=y

1
boards/atl/mantis-edu/default.px4board
View File

@ -31,6 +31,7 @@ CONFIG_MODULES_NAVIGATOR=y
CONFIG_MODULES_RC_UPDATE=y
CONFIG_MODULES_SENSORS=y
CONFIG_MODULES_SIMULATION_PWM_OUT_SIM=y
CONFIG_MODULES_SIMULATION_SENSOR_BARO_SIM=y
CONFIG_MODULES_SIMULATION_SENSOR_MAG_SIM=y
CONFIG_MODULES_SIMULATION_SIMULATOR_SIH=y
CONFIG_MODULES_GIMBAL=y

1
boards/av/x-v1/default.px4board
View File

@ -68,6 +68,7 @@ CONFIG_MODULES_RC_UPDATE=y
CONFIG_MODULES_ROVER_POS_CONTROL=y
CONFIG_MODULES_SENSORS=y
CONFIG_MODULES_SIMULATION_PWM_OUT_SIM=y
CONFIG_MODULES_SIMULATION_SENSOR_BARO_SIM=y
CONFIG_MODULES_SIMULATION_SENSOR_MAG_SIM=y
CONFIG_MODULES_SIMULATION_SIMULATOR_SIH=y
CONFIG_MODULES_TEMPERATURE_COMPENSATION=y

1
boards/beaglebone/blue/default.px4board
View File

@ -53,6 +53,7 @@ CONFIG_MODULES_RC_UPDATE=y
CONFIG_MODULES_ROVER_POS_CONTROL=y
CONFIG_MODULES_SENSORS=y
CONFIG_MODULES_SIMULATION_PWM_OUT_SIM=y
CONFIG_MODULES_SIMULATION_SENSOR_BARO_SIM=y
CONFIG_MODULES_SIMULATION_SENSOR_MAG_SIM=y
CONFIG_MODULES_SIMULATION_SIMULATOR_SIH=y
CONFIG_MODULES_TEMPERATURE_COMPENSATION=y

1
boards/cuav/nora/default.px4board
View File

@ -75,6 +75,7 @@ CONFIG_MODULES_RC_UPDATE=y
CONFIG_MODULES_ROVER_POS_CONTROL=y
CONFIG_MODULES_SENSORS=y
CONFIG_MODULES_SIMULATION_PWM_OUT_SIM=y
CONFIG_MODULES_SIMULATION_SENSOR_BARO_SIM=y
CONFIG_MODULES_SIMULATION_SENSOR_MAG_SIM=y
CONFIG_MODULES_SIMULATION_SIMULATOR_SIH=y
CONFIG_MODULES_TEMPERATURE_COMPENSATION=y

1
boards/cuav/x7pro/default.px4board
View File

@ -76,6 +76,7 @@ CONFIG_MODULES_RC_UPDATE=y
CONFIG_MODULES_ROVER_POS_CONTROL=y
CONFIG_MODULES_SENSORS=y
CONFIG_MODULES_SIMULATION_PWM_OUT_SIM=y
CONFIG_MODULES_SIMULATION_SENSOR_BARO_SIM=y
CONFIG_MODULES_SIMULATION_SENSOR_MAG_SIM=y
CONFIG_MODULES_SIMULATION_SIMULATOR_SIH=y
CONFIG_MODULES_TEMPERATURE_COMPENSATION=y

1
boards/cubepilot/cubeorange/default.px4board
View File

@ -71,6 +71,7 @@ CONFIG_MODULES_RC_UPDATE=y
CONFIG_MODULES_ROVER_POS_CONTROL=y
CONFIG_MODULES_SENSORS=y
CONFIG_MODULES_SIMULATION_PWM_OUT_SIM=y
CONFIG_MODULES_SIMULATION_SENSOR_BARO_SIM=y
CONFIG_MODULES_SIMULATION_SENSOR_MAG_SIM=y
CONFIG_MODULES_SIMULATION_SIMULATOR_SIH=y
CONFIG_MODULES_TEMPERATURE_COMPENSATION=y

1
boards/cubepilot/cubeyellow/default.px4board
View File

@ -71,6 +71,7 @@ CONFIG_MODULES_RC_UPDATE=y
CONFIG_MODULES_ROVER_POS_CONTROL=y
CONFIG_MODULES_SENSORS=y
CONFIG_MODULES_SIMULATION_PWM_OUT_SIM=y
CONFIG_MODULES_SIMULATION_SENSOR_BARO_SIM=y
CONFIG_MODULES_SIMULATION_SENSOR_MAG_SIM=y
CONFIG_MODULES_SIMULATION_SIMULATOR_SIH=y
CONFIG_MODULES_TEMPERATURE_COMPENSATION=y

1
boards/emlid/navio2/default.px4board
View File

@ -55,6 +55,7 @@ CONFIG_MODULES_RC_UPDATE=y
CONFIG_MODULES_ROVER_POS_CONTROL=y
CONFIG_MODULES_SENSORS=y
CONFIG_MODULES_SIMULATION_PWM_OUT_SIM=y
CONFIG_MODULES_SIMULATION_SENSOR_BARO_SIM=y
CONFIG_MODULES_SIMULATION_SENSOR_MAG_SIM=y
CONFIG_MODULES_SIMULATION_SIMULATOR_SIH=y
CONFIG_MODULES_TEMPERATURE_COMPENSATION=y

1
boards/holybro/durandal-v1/default.px4board
View File

@ -68,6 +68,7 @@ CONFIG_MODULES_RC_UPDATE=y
CONFIG_MODULES_ROVER_POS_CONTROL=y
CONFIG_MODULES_SENSORS=y
CONFIG_MODULES_SIMULATION_PWM_OUT_SIM=y
CONFIG_MODULES_SIMULATION_SENSOR_BARO_SIM=y
CONFIG_MODULES_SIMULATION_SENSOR_MAG_SIM=y
CONFIG_MODULES_SIMULATION_SIMULATOR_SIH=y
CONFIG_MODULES_TEMPERATURE_COMPENSATION=y

1
boards/holybro/kakuteh7/default.px4board
View File

@ -63,6 +63,7 @@ CONFIG_MODULES_ROVER_POS_CONTROL=y
CONFIG_MODULES_SENSORS=y
# CONFIG_SENSORS_VEHICLE_AIRSPEED is not set
CONFIG_MODULES_SIMULATION_PWM_OUT_SIM=y
CONFIG_MODULES_SIMULATION_SENSOR_BARO_SIM=y
CONFIG_MODULES_SIMULATION_SENSOR_MAG_SIM=y
CONFIG_MODULES_SIMULATION_SIMULATOR_SIH=y
CONFIG_MODULES_TEMPERATURE_COMPENSATION=y

1
boards/holybro/pix32v5/default.px4board
View File

@ -76,6 +76,7 @@ CONFIG_MODULES_RC_UPDATE=y
CONFIG_MODULES_ROVER_POS_CONTROL=y
CONFIG_MODULES_SENSORS=y
CONFIG_MODULES_SIMULATION_PWM_OUT_SIM=y
CONFIG_MODULES_SIMULATION_SENSOR_BARO_SIM=y
CONFIG_MODULES_SIMULATION_SENSOR_MAG_SIM=y
CONFIG_MODULES_SIMULATION_SIMULATOR_SIH=y
CONFIG_MODULES_TEMPERATURE_COMPENSATION=y

1
boards/modalai/fc-v1/default.px4board
View File

@ -73,6 +73,7 @@ CONFIG_MODULES_RC_UPDATE=y
CONFIG_MODULES_ROVER_POS_CONTROL=y
CONFIG_MODULES_SENSORS=y
CONFIG_MODULES_SIMULATION_PWM_OUT_SIM=y
CONFIG_MODULES_SIMULATION_SENSOR_BARO_SIM=y
CONFIG_MODULES_SIMULATION_SENSOR_MAG_SIM=y
CONFIG_MODULES_SIMULATION_SIMULATOR_SIH=y
CONFIG_MODULES_TEMPERATURE_COMPENSATION=y

1
boards/modalai/fc-v2/default.px4board
View File

@ -71,6 +71,7 @@ CONFIG_MODULES_RC_UPDATE=y
CONFIG_MODULES_ROVER_POS_CONTROL=y
CONFIG_MODULES_SENSORS=y
CONFIG_MODULES_SIMULATION_PWM_OUT_SIM=y
CONFIG_MODULES_SIMULATION_SENSOR_BARO_SIM=y
CONFIG_MODULES_SIMULATION_SENSOR_MAG_SIM=y
CONFIG_MODULES_SIMULATION_SIMULATOR_SIH=y
CONFIG_MODULES_TEMPERATURE_COMPENSATION=y

1
boards/mro/ctrl-zero-classic/default.px4board
View File

@ -68,6 +68,7 @@ CONFIG_MODULES_RC_UPDATE=y
CONFIG_MODULES_ROVER_POS_CONTROL=y
CONFIG_MODULES_SENSORS=y
CONFIG_MODULES_SIMULATION_PWM_OUT_SIM=y
CONFIG_MODULES_SIMULATION_SENSOR_BARO_SIM=y
CONFIG_MODULES_SIMULATION_SENSOR_MAG_SIM=y
CONFIG_MODULES_SIMULATION_SIMULATOR_SIH=y
CONFIG_MODULES_TEMPERATURE_COMPENSATION=y

1
boards/mro/ctrl-zero-f7-oem/default.px4board
View File

@ -69,6 +69,7 @@ CONFIG_MODULES_RC_UPDATE=y
CONFIG_MODULES_ROVER_POS_CONTROL=y
CONFIG_MODULES_SENSORS=y
CONFIG_MODULES_SIMULATION_PWM_OUT_SIM=y
CONFIG_MODULES_SIMULATION_SENSOR_BARO_SIM=y
CONFIG_MODULES_SIMULATION_SENSOR_MAG_SIM=y
CONFIG_MODULES_SIMULATION_SIMULATOR_SIH=y
CONFIG_MODULES_TEMPERATURE_COMPENSATION=y

1
boards/mro/ctrl-zero-f7/default.px4board
View File

@ -69,6 +69,7 @@ CONFIG_MODULES_RC_UPDATE=y
CONFIG_MODULES_ROVER_POS_CONTROL=y
CONFIG_MODULES_SENSORS=y
CONFIG_MODULES_SIMULATION_PWM_OUT_SIM=y
CONFIG_MODULES_SIMULATION_SENSOR_BARO_SIM=y
CONFIG_MODULES_SIMULATION_SENSOR_MAG_SIM=y
CONFIG_MODULES_SIMULATION_SIMULATOR_SIH=y
CONFIG_MODULES_TEMPERATURE_COMPENSATION=y

1
boards/mro/ctrl-zero-h7-oem/default.px4board
View File

@ -68,6 +68,7 @@ CONFIG_MODULES_RC_UPDATE=y
CONFIG_MODULES_ROVER_POS_CONTROL=y
CONFIG_MODULES_SENSORS=y
CONFIG_MODULES_SIMULATION_PWM_OUT_SIM=y
CONFIG_MODULES_SIMULATION_SENSOR_BARO_SIM=y
CONFIG_MODULES_SIMULATION_SENSOR_MAG_SIM=y
CONFIG_MODULES_SIMULATION_SIMULATOR_SIH=y
CONFIG_MODULES_TEMPERATURE_COMPENSATION=y

1
boards/mro/ctrl-zero-h7/default.px4board
View File

@ -69,6 +69,7 @@ CONFIG_MODULES_RC_UPDATE=y
CONFIG_MODULES_ROVER_POS_CONTROL=y
CONFIG_MODULES_SENSORS=y
CONFIG_MODULES_SIMULATION_PWM_OUT_SIM=y
CONFIG_MODULES_SIMULATION_SENSOR_BARO_SIM=y
CONFIG_MODULES_SIMULATION_SENSOR_MAG_SIM=y
CONFIG_MODULES_SIMULATION_SIMULATOR_SIH=y
CONFIG_MODULES_TEMPERATURE_COMPENSATION=y

3
boards/mro/pixracerpro/default.px4board
View File

@ -26,10 +26,8 @@ CONFIG_DRIVERS_PCA9685=y
CONFIG_DRIVERS_PCA9685_PWM_OUT=y
CONFIG_DRIVERS_POWER_MONITOR_INA226=y
CONFIG_DRIVERS_PWM_OUT=y
CONFIG_MODULES_SIMULATION_PWM_OUT_SIM=y
CONFIG_DRIVERS_RC_INPUT=y
CONFIG_DRIVERS_ROBOCLAW=y
CONFIG_DRIVERS_RPM=y
CONFIG_DRIVERS_SMART_BATTERY_BATMON=y
CONFIG_COMMON_TELEMETRY=y
CONFIG_DRIVERS_TONE_ALARM=y
@ -69,6 +67,7 @@ CONFIG_MODULES_RC_UPDATE=y
CONFIG_MODULES_ROVER_POS_CONTROL=y
CONFIG_MODULES_SENSORS=y
CONFIG_MODULES_SIMULATION_PWM_OUT_SIM=y
CONFIG_MODULES_SIMULATION_SENSOR_BARO_SIM=y
CONFIG_MODULES_SIMULATION_SENSOR_MAG_SIM=y
CONFIG_MODULES_SIMULATION_SIMULATOR_SIH=y
CONFIG_MODULES_TEMPERATURE_COMPENSATION=y

1
boards/mro/x21-777/default.px4board
View File

@ -70,6 +70,7 @@ CONFIG_MODULES_RC_UPDATE=y
CONFIG_MODULES_ROVER_POS_CONTROL=y
CONFIG_MODULES_SENSORS=y
CONFIG_MODULES_SIMULATION_PWM_OUT_SIM=y
CONFIG_MODULES_SIMULATION_SENSOR_BARO_SIM=y
CONFIG_MODULES_SIMULATION_SENSOR_MAG_SIM=y
CONFIG_MODULES_SIMULATION_SIMULATOR_SIH=y
CONFIG_MODULES_TEMPERATURE_COMPENSATION=y

1
boards/mro/x21/default.px4board
View File

@ -71,6 +71,7 @@ CONFIG_MODULES_RC_UPDATE=y
CONFIG_MODULES_ROVER_POS_CONTROL=y
CONFIG_MODULES_SENSORS=y
CONFIG_MODULES_SIMULATION_PWM_OUT_SIM=y
CONFIG_MODULES_SIMULATION_SENSOR_BARO_SIM=y
CONFIG_MODULES_SIMULATION_SENSOR_MAG_SIM=y
CONFIG_MODULES_SIMULATION_SIMULATOR_SIH=y
CONFIG_MODULES_TEMPERATURE_COMPENSATION=y

1
boards/nxp/fmuk66-e/default.px4board
View File

@ -71,6 +71,7 @@ CONFIG_MODULES_RC_UPDATE=y
CONFIG_MODULES_ROVER_POS_CONTROL=y
CONFIG_MODULES_SENSORS=y
CONFIG_MODULES_SIMULATION_PWM_OUT_SIM=y
CONFIG_MODULES_SIMULATION_SENSOR_BARO_SIM=y
CONFIG_MODULES_SIMULATION_SENSOR_MAG_SIM=y
CONFIG_MODULES_SIMULATION_SIMULATOR_SIH=y
CONFIG_MODULES_TEMPERATURE_COMPENSATION=y

1
boards/nxp/fmuk66-v3/default.px4board
View File

@ -76,6 +76,7 @@ CONFIG_MODULES_RC_UPDATE=y
CONFIG_MODULES_ROVER_POS_CONTROL=y
CONFIG_MODULES_SENSORS=y
CONFIG_MODULES_SIMULATION_PWM_OUT_SIM=y
CONFIG_MODULES_SIMULATION_SENSOR_BARO_SIM=y
CONFIG_MODULES_SIMULATION_SENSOR_MAG_SIM=y
CONFIG_MODULES_SIMULATION_SIMULATOR_SIH=y
CONFIG_MODULES_TEMPERATURE_COMPENSATION=y

1
boards/px4/fmu-v3/default.px4board
View File

@ -74,6 +74,7 @@ CONFIG_MODULES_RC_UPDATE=y
CONFIG_MODULES_ROVER_POS_CONTROL=y
CONFIG_MODULES_SENSORS=y
CONFIG_MODULES_SIMULATION_PWM_OUT_SIM=y
CONFIG_MODULES_SIMULATION_SENSOR_BARO_SIM=y
CONFIG_MODULES_SIMULATION_SENSOR_MAG_SIM=y
CONFIG_MODULES_SIMULATION_SIMULATOR_SIH=y
CONFIG_MODULES_TEMPERATURE_COMPENSATION=y

1
boards/px4/fmu-v4/default.px4board
View File

@ -74,6 +74,7 @@ CONFIG_MODULES_RC_UPDATE=y
CONFIG_MODULES_ROVER_POS_CONTROL=y
CONFIG_MODULES_SENSORS=y
CONFIG_MODULES_SIMULATION_PWM_OUT_SIM=y
CONFIG_MODULES_SIMULATION_SENSOR_BARO_SIM=y
CONFIG_MODULES_SIMULATION_SENSOR_MAG_SIM=y
CONFIG_MODULES_SIMULATION_SIMULATOR_SIH=y
CONFIG_MODULES_TEMPERATURE_COMPENSATION=y

1
boards/px4/fmu-v4pro/default.px4board
View File

@ -72,6 +72,7 @@ CONFIG_MODULES_RC_UPDATE=y
CONFIG_MODULES_ROVER_POS_CONTROL=y
CONFIG_MODULES_SENSORS=y
CONFIG_MODULES_SIMULATION_PWM_OUT_SIM=y
CONFIG_MODULES_SIMULATION_SENSOR_BARO_SIM=y
CONFIG_MODULES_SIMULATION_SENSOR_MAG_SIM=y
CONFIG_MODULES_SIMULATION_SIMULATOR_SIH=y
CONFIG_MODULES_TEMPERATURE_COMPENSATION=y

1
boards/px4/fmu-v6u/default.px4board
View File

@ -70,6 +70,7 @@ CONFIG_MODULES_RC_UPDATE=y
CONFIG_MODULES_ROVER_POS_CONTROL=y
CONFIG_MODULES_SENSORS=y
CONFIG_MODULES_SIMULATION_PWM_OUT_SIM=y
CONFIG_MODULES_SIMULATION_SENSOR_BARO_SIM=y
CONFIG_MODULES_SIMULATION_SENSOR_MAG_SIM=y
CONFIG_MODULES_SIMULATION_SIMULATOR_SIH=y
CONFIG_MODULES_TEMPERATURE_COMPENSATION=y

1
boards/px4/raspberrypi/default.px4board
View File

@ -52,6 +52,7 @@ CONFIG_MODULES_RC_UPDATE=y
CONFIG_MODULES_ROVER_POS_CONTROL=y
CONFIG_MODULES_SENSORS=y
CONFIG_MODULES_SIMULATION_PWM_OUT_SIM=y
CONFIG_MODULES_SIMULATION_SENSOR_BARO_SIM=y
CONFIG_MODULES_SIMULATION_SENSOR_MAG_SIM=y
CONFIG_MODULES_SIMULATION_SIMULATOR_SIH=y
CONFIG_MODULES_TEMPERATURE_COMPENSATION=y

1
boards/scumaker/pilotpi/default.px4board
View File

@ -52,6 +52,7 @@ CONFIG_MODULES_RC_UPDATE=y
CONFIG_MODULES_ROVER_POS_CONTROL=y
CONFIG_MODULES_SENSORS=y
CONFIG_MODULES_SIMULATION_PWM_OUT_SIM=y
CONFIG_MODULES_SIMULATION_SENSOR_BARO_SIM=y
CONFIG_MODULES_SIMULATION_SENSOR_MAG_SIM=y
CONFIG_MODULES_SIMULATION_SIMULATOR_SIH=y
CONFIG_MODULES_TEMPERATURE_COMPENSATION=y

1
boards/sky-drones/smartap-airlink/default.px4board
View File

@ -74,6 +74,7 @@ CONFIG_MODULES_RC_UPDATE=y
CONFIG_MODULES_ROVER_POS_CONTROL=y
CONFIG_MODULES_SENSORS=y
CONFIG_MODULES_SIMULATION_PWM_OUT_SIM=y
CONFIG_MODULES_SIMULATION_SENSOR_BARO_SIM=y
CONFIG_MODULES_SIMULATION_SENSOR_MAG_SIM=y
CONFIG_MODULES_SIMULATION_SIMULATOR_SIH=y
CONFIG_MODULES_TEMPERATURE_COMPENSATION=y

1
boards/uvify/core/default.px4board
View File

@ -58,6 +58,7 @@ CONFIG_MODULES_NAVIGATOR=y
CONFIG_MODULES_RC_UPDATE=y
CONFIG_MODULES_SENSORS=y
CONFIG_MODULES_SIMULATION_PWM_OUT_SIM=y
CONFIG_MODULES_SIMULATION_SENSOR_BARO_SIM=y
CONFIG_MODULES_SIMULATION_SENSOR_MAG_SIM=y
CONFIG_MODULES_SIMULATION_SIMULATOR_SIH=y
CONFIG_MODULES_TEMPERATURE_COMPENSATION=y

25
src/modules/simulation/simulator_sih/sih.cpp
View File

@ -217,22 +217,6 @@ void Sih::sensor_step()
reconstruct_sensors_signals(now);
// baro published at 20 Hz
if (now - _baro_time >= 50_ms
&& fabs(_baro_offset_m) < 10000) {
_baro_time = now;
// publish baro
sensor_baro_s sensor_baro{};
sensor_baro.timestamp_sample = now;
sensor_baro.device_id = 6620172; // 6620172: DRV_BARO_DEVTYPE_BAROSIM, BUS: 1, ADDR: 4, TYPE: SIMULATION
sensor_baro.pressure = _baro_p_mBar * 100.f;
sensor_baro.temperature = _baro_temp_c;
sensor_baro.error_count = 0;
sensor_baro.timestamp = hrt_absolute_time();
_sensor_baro_pub.publish(sensor_baro);
}
// gps published at 10Hz
if (now - _gps_time >= 100_ms) {
_gps_time = now;
@ -283,7 +267,6 @@ void Sih::parameters_updated()
_Im1 = 100.0f * inv(static_cast<typeof _I>(100.0f * _I));
_gps_used = _sih_gps_used.get();
_baro_offset_m = _sih_baro_offset.get();
_distance_snsr_min = _sih_distance_snsr_min.get();
_distance_snsr_max = _sih_distance_snsr_max.get();
@ -470,12 +453,6 @@ void Sih::reconstruct_sensors_signals(const hrt_abstime &time_now_us)
_px4_accel.update(time_now_us, acc(0), acc(1), acc(2));
_px4_gyro.update(time_now_us, gyro(0), gyro(1), gyro(2));
// barometer
float altitude = (_H0 - _p_I(2)) + _baro_offset_m + generate_wgn() * 0.14f; // altitude with noise
_baro_p_mBar = CONSTANTS_STD_PRESSURE_MBAR * // reconstructed pressure in mBar
powf((1.0f + altitude * TEMP_GRADIENT / T1_K), -CONSTANTS_ONE_G / (TEMP_GRADIENT * CONSTANTS_AIR_GAS_CONST));
_baro_temp_c = T1_K + CONSTANTS_ABSOLUTE_NULL_CELSIUS + TEMP_GRADIENT * altitude; // reconstructed temperture in Celsius
// GPS
_gps_lat_noiseless = _LAT0 + degrees((double)_p_I(0) / CONSTANTS_RADIUS_OF_EARTH);
_gps_lon_noiseless = _LON0 + degrees((double)_p_I(1) / CONSTANTS_RADIUS_OF_EARTH) / _COS_LAT0;
@ -547,7 +524,7 @@ void Sih::send_airspeed(const hrt_abstime &time_now_us)
airspeed.timestamp_sample = time_now_us;
airspeed.true_airspeed_m_s = fmaxf(0.1f, _v_B(0) + generate_wgn() * 0.2f);
airspeed.indicated_airspeed_m_s = airspeed.true_airspeed_m_s * sqrtf(_wing_l.get_rho() / RHO);
airspeed.air_temperature_celsius = _baro_temp_c;
airspeed.air_temperature_celsius = NAN;
airspeed.confidence = 0.7f;
airspeed.timestamp = hrt_absolute_time();
_airspeed_pub.publish(airspeed);

7
src/modules/simulation/simulator_sih/sih.hpp
View File

@ -74,7 +74,6 @@
#include <uORB/topics/actuator_outputs.h>
#include <uORB/topics/distance_sensor.h>
#include <uORB/topics/sensor_gps.h>
#include <uORB/topics/sensor_baro.h>
#include <uORB/topics/vehicle_angular_velocity.h>
#include <uORB/topics/vehicle_attitude.h>
#include <uORB/topics/vehicle_global_position.h>
@ -121,7 +120,6 @@ private:
// simulated sensors
PX4Accelerometer _px4_accel{1310988}; // 1310988: DRV_IMU_DEVTYPE_SIM, BUS: 1, ADDR: 1, TYPE: SIMULATION
PX4Gyroscope _px4_gyro{1310988}; // 1310988: DRV_IMU_DEVTYPE_SIM, BUS: 1, ADDR: 1, TYPE: SIMULATION
uORB::PublicationMulti<sensor_baro_s> _sensor_baro_pub{ORB_ID(sensor_baro)};
uORB::Publication<sensor_gps_s> _sensor_gps_pub{ORB_ID(sensor_gps)};
uORB::Publication<distance_sensor_s> _distance_snsr_pub{ORB_ID(distance_sensor)};
uORB::Publication<airspeed_s> _airspeed_pub{ORB_ID(airspeed)};
@ -184,7 +182,6 @@ private:
hrt_abstime _last_run{0};
hrt_abstime _last_actuator_output_time{0};
hrt_abstime _baro_time{0};
hrt_abstime _gps_time{0};
hrt_abstime _airspeed_time{0};
hrt_abstime _dist_snsr_time{0};
@ -259,8 +256,6 @@ private:
double _gps_lat, _gps_lat_noiseless;
double _gps_lon, _gps_lon_noiseless;
float _gps_alt, _gps_alt_noiseless;
float _baro_p_mBar; // reconstructed (simulated) pressure in mBar
float _baro_temp_c; // reconstructed (simulated) barometer temperature in degrees Celsius
// parameters
float _MASS, _T_MAX, _Q_MAX, _L_ROLL, _L_PITCH, _KDV, _KDW, _H0, _T_TAU;
@ -270,7 +265,6 @@ private:
matrix::Matrix3f _Im1; // inverse of the inertia matrix
int _gps_used;
float _baro_offset_m;
float _distance_snsr_min, _distance_snsr_max, _distance_snsr_override;
// parameters defined in sih_params.c
@ -294,7 +288,6 @@ private:
(ParamInt<px4::params::SIH_LOC_LON0>) _sih_lon0,
(ParamFloat<px4::params::SIH_LOC_H0>) _sih_h0,
(ParamInt<px4::params::SIH_GPS_USED>) _sih_gps_used,
(ParamFloat<px4::params::SIH_BARO_OFFSET>) _sih_baro_offset,
(ParamFloat<px4::params::SIH_DISTSNSR_MIN>) _sih_distance_snsr_min,
(ParamFloat<px4::params::SIH_DISTSNSR_MAX>) _sih_distance_snsr_max,
(ParamFloat<px4::params::SIH_DISTSNSR_OVR>) _sih_distance_snsr_override,

10
src/modules/simulation/simulator_sih/sih_params.c
View File

@ -293,16 +293,6 @@ PARAM_DEFINE_FLOAT(SIH_LOC_H0, 32.34f);
*/
PARAM_DEFINE_INT32(SIH_GPS_USED, 10);
/**
* Barometer offset in meters
*
* Absolute value superior to 10000 will disable barometer
*
* @unit m
* @group Simulation In Hardware
*/
PARAM_DEFINE_FLOAT(SIH_BARO_OFFSET, 0.0f);
/**
* distance sensor minimum range
*