AP_Baro_SITL.h

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#pragma once

#include "AP_Baro_Backend.h"

#if CONFIG_HAL_BOARD == HAL_BOARD_SITL
#include <SITL/SITL.h>
#include <AP_Math/vectorN.h>

class AP_Baro_SITL : public AP_Baro_Backend {
public:
    AP_Baro_SITL(AP_Baro &);

    void update() override;

protected:

    void update_healthy_flag(uint8_t instance) override { _frontend.sensors[instance].healthy = true; }

private:
    uint8_t _instance;
    SITL::SITL *_sitl;

    // barometer delay buffer variables
    struct readings_baro {
        uint32_t time;
        float data;
    };
    uint8_t _store_index;
    uint32_t _last_store_time;
    static const uint8_t _buffer_length = 50;
    VectorN<readings_baro, _buffer_length> _buffer;

    // adjust for simulated board temperature
    void temperature_adjustment(float &p, float &T);

    void _timer();
    bool _has_sample;
    uint32_t _last_sample_time;
    float _recent_temp;
    float _recent_press;

};
#endif  // CONFIG_HAL_BOARD