void AP_Baro_HIL::setHIL(float altitude_msl)
{
float sigma, delta, theta;
const float p0 = 101325;
SimpleAtmosphere(altitude_msl*0.001, sigma, delta, theta);
float p = p0 * delta;
float T = 303.16 * theta - 273.16; // Assume 30 degrees at sea level - converted to degrees Kelvin
_count++;
_pressure_sum += p;
_temperature_sum += T;
if (_count == 128) {
// we have summed 128 values. This only happens
// when we stop reading the barometer for a long time
// (more than 1.2 seconds)
_count = 64;
_pressure_sum /= 2;
_temperature_sum /= 2;
}
healthy = true;
_last_update = hal.scheduler->millis();
}
void AP_Baro_HIL::setHIL(float altitude_msl)
{
float sigma, delta, theta;
const float p0 = 101325;
SimpleAtmosphere(altitude_msl*0.001f, sigma, delta, theta);
float p = p0 * delta;
float T = 303.16f * theta - 273.16f; // Assume 30 degrees at sea level - converted to degrees Kelvin
setHIL(p, T);
}
/*
convert an altitude in meters above sea level to a presssure and temperature
*/
void AP_Baro::setHIL(float altitude_msl)
{
float sigma, delta, theta;
const float p0 = 101325;
SimpleAtmosphere(altitude_msl*0.001f, sigma, delta, theta);
float p = p0 * delta;
float T = 303.16f * theta - C_TO_KELVIN; // Assume 30 degrees at sea level - converted to degrees Kelvin
_hil.pressure = p;
_hil.temperature = T;
_hil.updated = true;
}