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simulator: fix conversion from hPa to Pa

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Signed-off-by: RomanBapst <bapstroman@gmail.com>
This commit is contained in:
RomanBapst
2022-03-29 16:02:01 +03:00
committed by Roman Bapst
parent 8a552fac78
commit 18074dec5a
2 changed files with 5 additions and 3 deletions
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src/modules/simulator/simulator.h
+2
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@@ -161,6 +161,8 @@ private:
static Simulator *_instance; static Simulator *_instance;
static constexpr float hPa2Pa = 100.0f; // hectopascal to pascal multiplier
// simulated sensor instances // simulated sensor instances
static constexpr uint8_t ACCEL_COUNT_MAX = 3; static constexpr uint8_t ACCEL_COUNT_MAX = 3;
PX4Accelerometer _px4_accel[ACCEL_COUNT_MAX] { PX4Accelerometer _px4_accel[ACCEL_COUNT_MAX] {
src/modules/simulator/simulator_mavlink.cpp
+3 -3
View File
@@ -328,7 +328,7 @@ void Simulator::update_sensors(const hrt_abstime &time, const mavlink_hil_sensor
if ((sensors.fields_updated & SensorSource::BARO) == SensorSource::BARO && !_baro_blocked) { if ((sensors.fields_updated & SensorSource::BARO) == SensorSource::BARO && !_baro_blocked) {
if (!_baro_stuck) { if (!_baro_stuck) {
_last_baro_pressure = sensors.abs_pressure; _last_baro_pressure = sensors.abs_pressure * hPa2Pa; // convert hPa to Pa
_last_baro_temperature = sensors.temperature; _last_baro_temperature = sensors.temperature;
} }
@@ -354,8 +354,8 @@ void Simulator::update_sensors(const hrt_abstime &time, const mavlink_hil_sensor
differential_pressure_s report{}; differential_pressure_s report{};
report.timestamp = time; report.timestamp = time;
report.temperature = _sensors_temperature; report.temperature = _sensors_temperature;
report.differential_pressure_filtered_pa = sensors.diff_pressure * 100.0f; // convert from millibar to bar; report.differential_pressure_filtered_pa = sensors.diff_pressure * hPa2Pa; // convert hPa to Pa;
report.differential_pressure_raw_pa = sensors.diff_pressure * 100.0f; // convert from millibar to bar; report.differential_pressure_raw_pa = sensors.diff_pressure * hPa2Pa; // convert hPa to Pa;
_differential_pressure_pub.publish(report); _differential_pressure_pub.publish(report);
} }