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AP_InertialSensor: add gyro bias simulation

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Peter Barker 2023-02-21 09:16:41 +11:00 committed by Peter Barker
parent c3e79c9865
commit 601c46f7e0
1 changed files with 4 additions and 0 deletions
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4
libraries/AP_InertialSensor/AP_InertialSensor_SITL.cpp
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@ -284,6 +284,10 @@ void AP_InertialSensor_SITL::generate_gyro()
gyro.y *= (1 + scale.y * 0.01f);
gyro.z *= (1 + scale.z * 0.01f);
// apply bias
const Vector3f &gyro_bias = sitl->gyro_bias[gyro_instance].get();
gyro += gyro_bias;
gyro_accum += gyro;
_notify_new_gyro_sensor_rate_sample(gyro_instance, gyro);