Mirrors_Framework/PX4-Autopilot
1
0
Fork 0
mirror of https://github.com/PX4/PX4-Autopilot.git synced 2026-06-01 19:07:45 +08:00
Code Issues Actions 5 Packages Projects Releases Wiki Activity

simulator: remove hack for diff_pressure noise

Browse Source 
The noise for airspeed is now applied on the Gazebo side and we can
remove this hack.
This commit is contained in:
Julian Oes
2019-04-26 13:56:40 +02:00
committed by Daniel Agar
parent 585b9d8cf1
commit 4a71984f77
1 changed files with 1 additions and 3 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/modules/simulator/simulator_mavlink.cpp
+1 -3
View File
@@ -262,9 +262,7 @@ void Simulator::update_sensors(const mavlink_hil_sensor_t *imu)
RawAirspeedData airspeed = {}; RawAirspeedData airspeed = {};
airspeed.temperature = imu->temperature; airspeed.temperature = imu->temperature;
// FIXME: diff_pressure needs some noise to pass preflight checks, so we just take the airspeed.diff_pressure = imu->diff_pressure;
// noise from the gyro.
airspeed.diff_pressure = imu->diff_pressure + ((imu->ygyro > 0) ? 0.001f : 0.0f);
write_airspeed_data(&airspeed); write_airspeed_data(&airspeed);
} }