Paparazzi UAS  v5.15_devel-81-gd13dafb
Paparazzi is a free software Unmanned Aircraft System.
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baro_sim.c
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1 /*
2  * Copyright (C) 2013 Felix Ruess <felix.ruess@gmail.com>
3  *
4  * This file is part of paparazzi.
5  *
6  * paparazzi is free software; you can redistribute it and/or modify
7  * it under the terms of the GNU General Public License as published by
8  * the Free Software Foundation; either version 2, or (at your option)
9  * any later version.
10  *
11  * paparazzi is distributed in the hope that it will be useful,
12  * but WITHOUT ANY WARRANTY; without even the implied warranty of
13  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
14  * GNU General Public License for more details.
15  *
16  * You should have received a copy of the GNU General Public License
17  * along with paparazzi; see the file COPYING. If not, write to
18  * the Free Software Foundation, 59 Temple Place - Suite 330,
19  * Boston, MA 02111-1307, USA.
20  */
21 
28 #include "math/pprz_isa.h"
29 #include "subsystems/gps.h"
30 #include "subsystems/abi.h"
31 
32 PRINT_CONFIG_VAR(BARO_SIM_SENDER_ID)
33 
34 void baro_sim_init(void)
35 {
36 
37 }
38 
40 {
41  uint32_t now_ts = get_sys_time_usec();
42  float pressure = pprz_isa_pressure_of_altitude(gps.hmsl / 1000.0);
43  AbiSendMsgBARO_ABS(BARO_SIM_SENDER_ID, now_ts, pressure);
44 }
static float pprz_isa_pressure_of_altitude(float altitude)
Get pressure in Pa from absolute altitude (using simplified equation).
Definition: pprz_isa.h:117
Main include for ABI (AirBorneInterface).
void baro_sim_periodic(void)
Definition: baro_sim.c:39
int32_t hmsl
height above mean sea level (MSL) in mm
Definition: gps.h:94
Device independent GPS code (interface)
Paparazzi atmospheric pressure conversion utilities.
unsigned long uint32_t
Definition: types.h:18
#define BARO_SIM_SENDER_ID
void baro_sim_init(void)
Definition: baro_sim.c:34
uint32_t get_sys_time_usec(void)
Get the time in microseconds since startup.
Definition: sys_time_arch.c:68
struct GpsState gps
global GPS state
Definition: gps.c:69