ardupilot/libraries/AP_InertialSensor/AP_InertialSensor_HIL.h

/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
#pragma once

#include "AP_InertialSensor.h"
#include "AP_InertialSensor_Backend.h"

class AP_InertialSensor_HIL : public AP_InertialSensor_Backend
{
public:
    AP_InertialSensor_HIL(AP_InertialSensor &imu);

    /* update accel and gyro state */
    bool update();

    // detect the sensor
    static AP_InertialSensor_Backend *detect(AP_InertialSensor &imu);

private:
    bool _init_sensor(void);
};