add WMM magnetometer

2025-07-26 00:51:14 +03:00
parent d3c3b013ff
commit 65011e65ee
2 changed files with 460 additions and 419 deletions
--- a/DroneSimulator/Drone.cs
+++ b/DroneSimulator/Drone.cs
@ -62,6 +62,7 @@ namespace DroneSimulator
    private RealMode.Barometer RealBar = new RealMode.Barometer();
    private RealMode.Range RealRange = new RealMode.Range();
    private RealMode.OpticalFlow RealOF = new RealMode.OpticalFlow();
+    private RealMode.Magnetometer RealMagnetometer = new RealMode.Magnetometer();

    public static byte[] getBytes(object data)
    {
@ -372,6 +373,8 @@ namespace DroneSimulator

      bool of = RealOF.Update(of_xy, LaserRange, tick);

+            RealMagnetometer.Update(Quat, tick);
+
      lock (this)
      {
        MoveOF += RealOF.result * time;