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Peter BarkerandClaude Opus 5
4ea77b7b2d
AP_Compass_SITL held the compass sensor model -- the noise, the delay buffer, the elliptical correction and the failure injection -- inline. Move it to SITL::CompassSim so it sits alongside the rest of the sensor simulation and beside the transformation it shares with get_mag_offsets(). The consumer owns its own instance, so sampling stays where it was and the 100Hz rate at which the sensor is simulated is unchanged. Co-Authored-By: Claude Opus 5 (1M context) <noreply@anthropic.com>
61 lines
1.6 KiB
C++
61 lines
1.6 KiB
C++
#include "AP_Compass_SITL.h"
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#if AP_COMPASS_SITL_ENABLED
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#include <AP_HAL/AP_HAL.h>
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extern const AP_HAL::HAL& hal;
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AP_Compass_SITL::AP_Compass_SITL(uint8_t _sitl_instance) :
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_sitl(AP::sitl()),
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sitl_instance(_sitl_instance)
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{
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if (sitl_instance > ARRAY_SIZE(_sitl->mag_devid)) {
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return;
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}
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const uint32_t dev_id = _sitl->mag_devid[sitl_instance];
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if (dev_id == 0) {
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return;
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}
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if (!register_compass(dev_id)) {
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return;
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}
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if (_sitl->mag_save_ids) {
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// save so the compass always comes up configured in SITL
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save_dev_id();
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}
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set_rotation(ROTATION_NONE);
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// Scroll through the registered compasses, and set the offsets
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if (_compass.get_offsets(instance).is_zero()) {
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_compass.set_offsets(instance, _sitl->mag_ofs[sitl_instance]);
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}
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// we want to simulate a calibrated compass by default, so set
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// scale to 1
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AP_Param::set_default_by_name("COMPASS_SCALE", 1);
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AP_Param::set_default_by_name("COMPASS_SCALE2", 1);
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AP_Param::set_default_by_name("COMPASS_SCALE3", 1);
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// make first compass external
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if (sitl_instance == 0) {
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set_external(true);
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}
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hal.scheduler->register_timer_process(FUNCTOR_BIND(this, &AP_Compass_SITL::_timer, void));
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}
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void AP_Compass_SITL::_timer()
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{
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Vector3f f;
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if (!_compass_sim.update(f)) {
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return;
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}
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accumulate_sample(f, 10);
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}
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#endif // AP_COMPASS_SITL_ENABLED
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