From 5f8b57ba1965e343ceaa362f1a61717b2c8f0e6f Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Wed, 27 Jun 2018 13:31:23 +1000
Subject: [PATCH] AP_InertialSensor: added SITL device IDs

---
 libraries/AP_InertialSensor/AP_InertialSensor_Backend.h | 1 +
 libraries/AP_InertialSensor/AP_InertialSensor_SITL.cpp  | 7 +++++--
 2 files changed, 6 insertions(+), 2 deletions(-)

diff --git a/libraries/AP_InertialSensor/AP_InertialSensor_Backend.h b/libraries/AP_InertialSensor/AP_InertialSensor_Backend.h
index 1bc4e540ae..06f6fb75a5 100644
--- a/libraries/AP_InertialSensor/AP_InertialSensor_Backend.h
+++ b/libraries/AP_InertialSensor/AP_InertialSensor_Backend.h
@@ -105,6 +105,7 @@ public:
         DEVTYPE_INS_ICM20789 = 0x27,
         DEVTYPE_INS_ICM20689 = 0x28,
         DEVTYPE_INS_BMI055   = 0x29,
+        DEVTYPE_SITL         = 0x2A,
     };
 
 protected:
diff --git a/libraries/AP_InertialSensor/AP_InertialSensor_SITL.cpp b/libraries/AP_InertialSensor/AP_InertialSensor_SITL.cpp
index 3d878a3bb9..eedc0c918b 100644
--- a/libraries/AP_InertialSensor/AP_InertialSensor_SITL.cpp
+++ b/libraries/AP_InertialSensor/AP_InertialSensor_SITL.cpp
@@ -37,8 +37,11 @@ bool AP_InertialSensor_SITL::init_sensor(void)
 
     // grab the used instances
     for (uint8_t i=0; i<INS_SITL_INSTANCES; i++) {
-        gyro_instance[i] = _imu.register_gyro(gyro_sample_hz[i], i);
-        accel_instance[i] = _imu.register_accel(accel_sample_hz[i], i);
+
+        gyro_instance[i] = _imu.register_gyro(gyro_sample_hz[i],
+                                              AP_HAL::Device::make_bus_id(AP_HAL::Device::BUS_TYPE_SITL, i, 1, DEVTYPE_SITL));
+        accel_instance[i] = _imu.register_accel(accel_sample_hz[i],
+                                              AP_HAL::Device::make_bus_id(AP_HAL::Device::BUS_TYPE_SITL, i, 2, DEVTYPE_SITL));
     }
 
     hal.scheduler->register_timer_process(FUNCTOR_BIND_MEMBER(&AP_InertialSensor_SITL::timer_update, void));