Paparazzi UAS  v5.15_devel-112-g521f3cf
Paparazzi is a free software Unmanned Aircraft System.
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nps_atmosphere.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 
27 #include "nps_atmosphere.h"
28 #include "nps_fdm.h"
29 #include "nps_ivy.h"
30 
31 #ifndef NPS_QNH
32 #define NPS_QNH 101325.0
33 #endif
34 
35 #ifndef NPS_WIND_SPEED
36 #define NPS_WIND_SPEED 0.0
37 #endif
38 
39 #ifndef NPS_WIND_DIR
40 #define NPS_WIND_DIR 0
41 #endif
42 
43 #ifndef NPS_TURBULENCE_SEVERITY
44 #define NPS_TURBULENCE_SEVERITY 0
45 #endif
46 
47 #ifndef NPS_WORLD_ENV_UPDATE
48 #define NPS_WORLD_ENV_UPDATE 1.0
49 #endif
50 
52 
54 {
61 }
62 
64 {
65  nps_atmosphere.wind_speed = speed;
66  /* recalc wind in north and east */
67  nps_atmosphere.wind.x = -speed * sin(M_PI_2 - nps_atmosphere.wind_dir);
68  nps_atmosphere.wind.y = -speed * cos(M_PI_2 - nps_atmosphere.wind_dir);
69 }
70 
72 {
73  /* normalize dir to 0-2Pi */
74  while (dir < 0.0) { dir += 2 * M_PI; }
75  while (dir >= 2 * M_PI) { dir -= 2 * M_PI; }
76 
78  /* recalc wind in north and east */
79  nps_atmosphere.wind.x = -nps_atmosphere.wind_speed * sin(M_PI_2 - dir);
80  nps_atmosphere.wind.y = -nps_atmosphere.wind_speed * cos(M_PI_2 - dir);
81 }
82 
83 void nps_atmosphere_set_wind_ned(double wind_north, double wind_east, double wind_down)
84 {
85  nps_atmosphere.wind.x = wind_north;
86  nps_atmosphere.wind.y = wind_east;
87  nps_atmosphere.wind.z = wind_down;
88  /* recalc horizontal wind speed and dir */
90 
91  double dir = atan2(-wind_east, -wind_north);
92  /* normalize dir to 0-2Pi */
93  while (dir < 0.0) { dir += 2 * M_PI; }
94  while (dir >= 2 * M_PI) { dir -= 2 * M_PI; }
96 }
97 
98 void nps_atmosphere_update(double dt)
99 {
100  static double req_time = 0.;
101  req_time += dt;
104  nps_ivy_send_world_env = true;
105  }
106 
109 }
void nps_atmosphere_set_wind_ned(double wind_north, double wind_east, double wind_down)
void nps_atmosphere_set_wind_dir(double dir)
double last_world_env_req
last world env request time
#define NPS_WIND_SPEED
int turbulence_severity
turbulence severity from 0-7
#define NPS_TURBULENCE_SEVERITY
#define FLOAT_VECT3_ZERO(_v)
#define FLOAT_VECT2_NORM(_v)
struct NpsAtmosphere nps_atmosphere
bool nps_ivy_send_world_env
Definition: nps_ivy.h:7
double wind_speed
horizontal wind magnitude in m/s
void nps_atmosphere_set_wind_speed(double speed)
void nps_fdm_set_turbulence(double wind_speed, int turbulence_severity)
#define NPS_WORLD_ENV_UPDATE
static const float dir[]
#define NPS_QNH
void nps_atmosphere_update(double dt)
double qnh
barometric pressure at sea level in Pascal
double wind_dir
horitzontal wind direction in radians north=0, increasing CCW
void nps_fdm_set_wind_ned(double wind_north, double wind_east, double wind_down)
void nps_atmosphere_init(void)
Atmosphere model (pressure, wind) for NPS.
#define NPS_WIND_DIR
struct DoubleVect3 wind
wind speed in NED in m/s