mirror of https://github.com/ArduPilot/ardupilot
35 lines
804 B
C
35 lines
804 B
C
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/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
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#ifndef __AP_INERTIALSENSOR_SITL_H__
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#define __AP_INERTIALSENSOR_SITL_H__
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#include "AP_InertialSensor.h"
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#include <SITL/SITL.h>
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#define INS_SITL_INSTANCES 2
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class AP_InertialSensor_SITL : public AP_InertialSensor_Backend
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{
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public:
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AP_InertialSensor_SITL(AP_InertialSensor &imu);
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/* update accel and gyro state */
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bool update();
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// detect the sensor
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static AP_InertialSensor_Backend *detect(AP_InertialSensor &imu);
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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 rand_float(void);
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float gyro_drift(void);
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SITL::SITL *sitl;
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uint8_t gyro_instance[INS_SITL_INSTANCES];
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uint8_t accel_instance[INS_SITL_INSTANCES];
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};
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#endif // __AP_INERTIALSENSOR_SITL_H__
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