mirror of https://github.com/ArduPilot/ardupilot
56 lines
1.6 KiB
C
56 lines
1.6 KiB
C
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#pragma once
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/*
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This is a 'mock' implementation of an INS that does nothing and gives a level HUD, but does it successfully.
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Its useful for boards that don't have any form of IMU accel/gyro etc connected just yet, but where u want to boot-up "successfully" anyway,
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such as the ESP32, to allow wifi connectivity to startup, and alow mavlink to start streaming anyway.
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Its a rip-off of _SITL with all the sitl stuff removed or replaced with constants.
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*/
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#if CONFIG_HAL_BOARD == HAL_BOARD_ESP32
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#include "AP_InertialSensor.h"
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#include "AP_InertialSensor_Backend.h"
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// simulated sensor rates in Hz. This matches a pixhawk1
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const uint16_t INS_NONE_SENSOR_A[] = { 1000, 1000 };
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class AP_InertialSensor_NONE : public AP_InertialSensor_Backend
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{
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public:
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AP_InertialSensor_NONE(AP_InertialSensor &imu, const uint16_t sample_rates[]);
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/* update accel and gyro state */
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bool update() override;
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void start() override;
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void accumulate() override;
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// detect the sensor
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static AP_InertialSensor_Backend *detect(AP_InertialSensor &imu, const uint16_t sample_rates[]);
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private:
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bool init_sensor(void);
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void timer_update();
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float gyro_drift(void);
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void generate_accel();
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void generate_gyro();
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//float rand_float(void);
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//SITL::SITL *sitl;
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const uint16_t gyro_sample_hz;
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const uint16_t accel_sample_hz;
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uint8_t gyro_instance;
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uint8_t accel_instance;
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uint64_t next_gyro_sample;
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uint64_t next_accel_sample;
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float gyro_time;
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float accel_time;
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float gyro_motor_phase[12];
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float accel_motor_phase[12];
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static uint8_t bus_id;
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};
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#endif // CONFIG_HAL_BOARD
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