yemai/bizhang_-obav
1
0
Fork 0
mirror of https://gitee.com/xiaohuolufeihua/bizhang_-obav.git synced 2026-05-22 09:28:58 +00:00
Code Issues Packages Projects Releases Wiki Activity

stop manually defining physical constants

Browse Source
This commit is contained in:
Daniel Agar
2018-04-10 13:50:57 -04:00
committed by Lorenz Meier
parent 7538ea44e3
commit d75fd72c02
27 changed files with 66 additions and 84 deletions
Download Patch File Download Diff File Expand all files Collapse all files

15
src/modules/simulator/simulator_mavlink.cpp
View File

@@ -52,11 +52,6 @@ extern "C" __EXPORT hrt_abstime hrt_reset(void);
#define SEND_INTERVAL 20
#define UDP_PORT 14560
#define PRESS_GROUND 101325.0f
#define DENSITY 1.2041f
static const float mg2ms2 = CONSTANTS_ONE_G / 1000.0f;
#ifdef ENABLE_UART_RC_INPUT
#ifndef B460800
#define B460800 460800
@@ -632,12 +627,12 @@ void Simulator::initializeSensorData()
{
// write sensor data to memory so that drivers can copy data from there
RawMPUData mpu = {};
mpu.accel_z = 9.81f;
mpu.accel_z = CONSTANTS_ONE_G;
write_MPU_data(&mpu);
RawAccelData accel = {};
accel.z = 9.81f;
accel.z = CONSTANTS_ONE_G;
write_accel_data(&accel);
@@ -1036,9 +1031,9 @@ int Simulator::publish_sensor_topics(mavlink_hil_sensor_t *imu)
struct accel_report accel = {};
accel.timestamp = timestamp;
accel.x_raw = imu->xacc / mg2ms2;
accel.y_raw = imu->yacc / mg2ms2;
accel.z_raw = imu->zacc / mg2ms2;
accel.x_raw = imu->xacc / (CONSTANTS_ONE_G / 1000.0f);
accel.y_raw = imu->yacc / (CONSTANTS_ONE_G / 1000.0f);
accel.z_raw = imu->zacc / (CONSTANTS_ONE_G / 1000.0f);
accel.x = imu->xacc;
accel.y = imu->yacc;
accel.z = imu->zacc;