31#include "generated/airframe.h"
40#define NPS_SONAR_DT 0.01
44#ifndef NPS_SONAR_NOISE_STD_DEV
45#define NPS_SONAR_NOISE_STD_DEV 0.01
48#ifndef NPS_SONAR_OFFSET
49#define NPS_SONAR_OFFSET 0
52#ifndef NPS_SONAR_MIN_DIST
53#define NPS_SONAR_MIN_DIST 0.1f
56#ifndef NPS_SONAR_MAX_DIST
57#define NPS_SONAR_MAX_DIST 7.0f
struct NpsFdm fdm
Holds all necessary NPS FDM state information.
std::shared_ptr< gazebo::sensors::SonarSensor > sonar
double get_gaussian_noise(void)
#define NPS_SONAR_NOISE_STD_DEV
standard devition in meters (default 1cm)
void nps_sensor_sonar_run_step(struct NpsSensorSonar *sonar, double time)
#define NPS_SONAR_DT
10Hz default
void nps_sensor_sonar_init(struct NpsSensorSonar *sonar, double time)
#define NPS_SONAR_MIN_DIST
#define NPS_SONAR_MAX_DIST
Simulated sonar for NPS simulator.