Paparazzi UAS v7.0_unstable
Paparazzi is a free software Unmanned Aircraft System.
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nps_sensor_airspeed.c
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1/*
2 * Copyright (C) 2014 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
29#include "nps_sensor_airspeed.h"
30
31#include "generated/airframe.h"
32
33#include "std.h"
34#include "nps_fdm.h"
35#include "nps_random.h"
36#include "nps_sensors.h"
37
39#ifndef NPS_AIRSPEED_DT
40#define NPS_AIRSPEED_DT 0.01
41#endif
42
44#ifndef NPS_AIRSPEED_NOISE_STD_DEV
45#define NPS_AIRSPEED_NOISE_STD_DEV 0.1
46#endif
47
48#ifndef NPS_AIRSPEED_OFFSET
49#define NPS_AIRSPEED_OFFSET 0
50#endif
51
52
53void nps_sensor_airspeed_init(struct NpsSensorAirspeed *airspeed, double time)
54{
55 airspeed->value = 0.;
56 airspeed->offset = NPS_AIRSPEED_OFFSET;
58 airspeed->next_update = time;
59 airspeed->data_available = FALSE;
60}
61
62
63void nps_sensor_airspeed_run_step(struct NpsSensorAirspeed *airspeed, double time)
64{
65
66 if (time < airspeed->next_update) {
67 return;
68 }
69
70 /* equivalent airspeed + sensor offset */
71 airspeed->value = fdm.airspeed + airspeed->offset;
72 /* add noise with std dev meters/second */
73 airspeed->value += get_gaussian_noise() * airspeed->noise_std_dev;
74 /* can't be negative, min is zero */
75 if (airspeed->value < 0) {
76 airspeed->value = 0.0;
77 }
78
79 airspeed->next_update += NPS_AIRSPEED_DT;
80 airspeed->data_available = TRUE;
81}
uint16_t foo
Definition main_demo5.c:58
double airspeed
equivalent airspeed in m/s
Definition nps_fdm.h:109
struct NpsFdm fdm
Holds all necessary NPS FDM state information.
double get_gaussian_noise(void)
Definition nps_random.c:109
void nps_sensor_airspeed_init(struct NpsSensorAirspeed *airspeed, double time)
void nps_sensor_airspeed_run_step(struct NpsSensorAirspeed *airspeed, double time)
#define NPS_AIRSPEED_OFFSET
#define NPS_AIRSPEED_NOISE_STD_DEV
standard deviation in meters/second (default 0.1 m/s)
#define NPS_AIRSPEED_DT
10Hz default
Simulated airspeed for NPS simulator.
double offset
offset in meters/second
double value
airspeed reading in meters/second
double noise_std_dev
noise standard deviation
#define TRUE
Definition std.h:4
#define FALSE
Definition std.h:5