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simulator: fix temperature setting after rebase

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This commit is contained in:
Julian Oes
2020-09-16 10:45:14 +02:00
committed by Daniel Agar
parent e7651c94f6
commit 9ed07a7873
1 changed files with 11 additions and 14 deletions
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25
src/modules/simulator/simulator_mavlink.cpp
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@@ -212,21 +212,18 @@ void Simulator::send_controls()
void Simulator::update_sensors(const hrt_abstime &time, const mavlink_hil_sensor_t &sensors) void Simulator::update_sensors(const hrt_abstime &time, const mavlink_hil_sensor_t &sensors)
{ {
float temperature = NAN;
// temperature only updated with baro // temperature only updated with baro
if ((sensors.fields_updated & SensorSource::BARO) == SensorSource::BARO) { if ((sensors.fields_updated & SensorSource::BARO) == SensorSource::BARO) {
if (PX4_ISFINITE(sensors.temperature)) { if (PX4_ISFINITE(sensors.temperature)) {
temperature = sensors.temperature;
_px4_accel_0.set_temperature(temperature); _px4_accel_0.set_temperature(sensors.temperature);
_px4_accel_1.set_temperature(temperature); _px4_accel_1.set_temperature(sensors.temperature);
_px4_gyro_0.set_temperature(temperature); _px4_gyro_0.set_temperature(sensors.temperature);
_px4_gyro_1.set_temperature(temperature); _px4_gyro_1.set_temperature(sensors.temperature);
_px4_mag_0.set_temperature(temperature); _px4_mag_0.set_temperature(sensors.temperature);
_px4_mag_1.set_temperature(temperature); _px4_mag_1.set_temperature(sensors.temperature);
} }
} }
@@ -261,15 +258,15 @@ 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) {
_px4_baro_0.update(time, _px4_baro_0.get().pressure); _px4_baro_0.update(time, _px4_baro_0.get().pressure);
_px4_baro_0.set_temperature(time, _px4_baro_0.get().temperature); _px4_baro_0.set_temperature(_px4_baro_0.get().temperature);
_px4_baro_1.update(time, _px4_baro_1.get().pressure); _px4_baro_1.update(time, _px4_baro_1.get().pressure);
_px4_baro_1.set_temperature(time, _px4_baro_1.get().temperature); _px4_baro_1.set_temperature(_px4_baro_1.get().temperature);
} else { } else {
_px4_baro_0.update(time, sensors.abs_pressure); _px4_baro_0.update(time, sensors.abs_pressure);
_px4_baro_0.set_temperature(temperature); _px4_baro_0.set_temperature(sensors.temperature);
_px4_baro_1.update(time, sensors.abs_pressure); _px4_baro_1.update(time, sensors.abs_pressure);
_px4_baro_1.set_temperature(temperature); _px4_baro_1.set_temperature(sensors.temperature);
} }
} }
@@ -277,7 +274,7 @@ void Simulator::update_sensors(const hrt_abstime &time, const mavlink_hil_sensor
if ((sensors.fields_updated & SensorSource::DIFF_PRESS) == SensorSource::DIFF_PRESS && !_airspeed_blocked) { if ((sensors.fields_updated & SensorSource::DIFF_PRESS) == SensorSource::DIFF_PRESS && !_airspeed_blocked) {
differential_pressure_s report{}; differential_pressure_s report{};
report.timestamp = time; report.timestamp = time;
report.temperature = 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 * 100.0f; // convert from millibar to bar;
report.differential_pressure_raw_pa = sensors.diff_pressure * 100.0f; // convert from millibar to bar; report.differential_pressure_raw_pa = sensors.diff_pressure * 100.0f; // convert from millibar to bar;