fix last push

Signed-off-by: Michael Anderson <[email protected]>
osrf · Sep 10, 2023 · 2f0f097 · 2f0f097
1 parent dadcc18
commit 2f0f097
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Showing 3 changed files with 5 additions and 4 deletions.
diff --git a/buoy_gazebo/src/ElectroHydraulicPTO/ElectroHydraulicPTO.cpp b/buoy_gazebo/src/ElectroHydraulicPTO/ElectroHydraulicPTO.cpp
@@ -376,8 +376,8 @@ void ElectroHydraulicPTO::PreUpdate(
   const double N = this->dataPtr->x[0U];
   double deltaP = this->dataPtr->x[1U];
   double VBus = this->dataPtr->x[2U];
-  const double eff_m = this->hyd_eff_m.eval(fabs(N));
-  const double eff_v = this->hyd_eff_v.eval(fabs(deltaP));
+  const double eff_m = this->dataPtr->functor.hyd_eff_m.eval(fabs(N));
+  const double eff_v = this->dataPtr->functor.hyd_eff_v.eval(fabs(deltaP));
 
   VBus = std::min(VBus, this->dataPtr->MaxTargetVoltage);
   double BusPower = this->dataPtr->functor.BusPower;

diff --git a/buoy_gazebo/src/LatentData/LatentData/LatentData.hpp b/buoy_gazebo/src/LatentData/LatentData/LatentData.hpp
@@ -88,6 +88,7 @@ struct AirSpring
   double dQ_dt{0.0};  // heat loss rate
   double piston_position{0.0};  // meters
   double piston_velocity{0.0};  // m/s
+  double mass{0.0};  // kg
 
   bool operator==(const AirSpring & that) const
   {

diff --git a/buoy_gazebo/src/PolytropicPneumaticSpring/PolytropicPneumaticSpring.cpp b/buoy_gazebo/src/PolytropicPneumaticSpring/PolytropicPneumaticSpring.cpp
@@ -572,9 +572,9 @@ void PolytropicPneumaticSpring::PreUpdate(
 
   if (this->dataPtr->config_->is_upper) {
     spring_state.range_finder = x;
-    spring_state.upper_psi = PASCAL_TO_PSI * this->dataPtr->P;
+    spring_state.upper_psi = this->dataPtr->P / buoy_utils::PASCAL_PER_PSI;
   } else {
-    spring_state.lower_psi = PASCAL_TO_PSI * this->dataPtr->P;
+    spring_state.lower_psi = this->dataPtr->P / buoy_utils::PASCAL_PER_PSI;
   }
 
   _ecm.SetComponentData<buoy_gazebo::components::SpringState>(