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AP_InertialSensor: added SITL device IDs

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This commit is contained in:
Andrew Tridgell 2018-06-27 13:31:23 +10:00
parent 823c4523b3
commit 5f8b57ba19
2 changed files with 6 additions and 2 deletions
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1
libraries/AP_InertialSensor/AP_InertialSensor_Backend.h
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@ -105,6 +105,7 @@ public:
DEVTYPE_INS_ICM20789 = 0x27, DEVTYPE_INS_ICM20789 = 0x27,
DEVTYPE_INS_ICM20689 = 0x28, DEVTYPE_INS_ICM20689 = 0x28,
DEVTYPE_INS_BMI055 = 0x29, DEVTYPE_INS_BMI055 = 0x29,
DEVTYPE_SITL = 0x2A,
}; };
protected: protected:

7
libraries/AP_InertialSensor/AP_InertialSensor_SITL.cpp
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@ -37,8 +37,11 @@ bool AP_InertialSensor_SITL::init_sensor(void)
// grab the used instances // grab the used instances
for (uint8_t i=0; i<INS_SITL_INSTANCES; i++) { 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)); hal.scheduler->register_timer_process(FUNCTOR_BIND_MEMBER(&AP_InertialSensor_SITL::timer_update, void));