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AP_InertialSensor: add simulator for ICM40609

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Peter Barker 2021-01-11 11:10:00 +11:00 committed by Peter Barker
parent 5001978704
commit 239b09fb34
1 changed files with 3 additions and 0 deletions
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3
libraries/AP_InertialSensor/AP_InertialSensor.cpp
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@ -869,6 +869,9 @@ AP_InertialSensor::detect_backends(void)
for (uint8_t i=0; i<AP::sitl()->imu_count; i++) {
ADD_BACKEND(AP_InertialSensor_SITL::detect(*this, i==1?INS_SITL_SENSOR_B:INS_SITL_SENSOR_A));
}
#if defined(HAL_SITL_INVENSENSEV3)
ADD_BACKEND(AP_InertialSensor_Invensensev3::probe(*this, hal.i2c_mgr->get_device(1, 1), ROTATION_NONE));
#endif
#elif HAL_INS_DEFAULT == HAL_INS_HIL
ADD_BACKEND(AP_InertialSensor_HIL::detect(*this));
#elif AP_FEATURE_BOARD_DETECT