SITL: move simulated height_agl into fdm structure

allows value to be shipped via multicast to simulated peripherals
ArduPilot · Jan 8, 2024 · 3a37796 · 3a37796
1 parent c583edc
commit 3a37796
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Showing 2 changed files with 5 additions and 4 deletions.
diff --git a/libraries/SITL/SIM_Aircraft.cpp b/libraries/SITL/SIM_Aircraft.cpp
@@ -490,7 +490,7 @@ float Aircraft::perpendicular_distance_to_rangefinder_surface() const
 {
     switch ((Rotation)sitl->sonar_rot.get()) {
     case Rotation::ROTATION_PITCH_270:
-        return sitl->height_agl;
+        return sitl->state.height_agl;
     case ROTATION_NONE ... ROTATION_YAW_315:
         return sitl->measure_distance_at_angle_bf(location, sitl->sonar_rot.get()*45);
     default:

diff --git a/libraries/SITL/SITL.h b/libraries/SITL/SITL.h
@@ -92,6 +92,10 @@ struct sitl_fdm {
 
     // earthframe wind, from backends that know it
     Vector3f wind_ef;
+
+    // AGL altitude, usually derived from the terrain database in simulation:
+    float height_agl;
+
 };
 
 // number of rc output channels
@@ -152,9 +156,6 @@ class SIM {
     // throttle when motors are active
     float throttle;
 
-    // height above ground
-    float height_agl;
-
     static const struct AP_Param::GroupInfo var_info[];
     static const struct AP_Param::GroupInfo var_info2[];
     static const struct AP_Param::GroupInfo var_info3[];