From 7292b4f2605438a376924279ed95d01224125222 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Sun, 24 Jan 2021 16:54:42 +1100
Subject: [PATCH] SITL: added SIM_ACC_TRIM_{X,Y,Z} for simulating IMU trim

this will enable an autotest for AHRS trim
---
 libraries/SITL/SITL.cpp | 1 +
 libraries/SITL/SITL.h   | 1 +
 2 files changed, 2 insertions(+)

diff --git a/libraries/SITL/SITL.cpp b/libraries/SITL/SITL.cpp
index 32769b5be4..0c1d8078c0 100644
--- a/libraries/SITL/SITL.cpp
+++ b/libraries/SITL/SITL.cpp
@@ -386,6 +386,7 @@ const AP_Param::GroupInfo SITL::var_ins[] = {
     AP_GROUPINFO("ACC1_SCAL",    22, SITL, accel_scale[0], 0),
     AP_GROUPINFO("ACC2_SCAL",    23, SITL, accel_scale[1], 0),
     AP_GROUPINFO("ACC3_SCAL",    24, SITL, accel_scale[2], 0),
+    AP_GROUPINFO("ACC_TRIM",     25, SITL, accel_trim, 0),
 
     // the IMUT parameters must be last due to the enable parameters
     AP_SUBGROUPINFO(imu_tcal[0], "IMUT1_", 61, SITL, AP_InertialSensor::TCal),
diff --git a/libraries/SITL/SITL.h b/libraries/SITL/SITL.h
index 730baec710..24e413ed4b 100644
--- a/libraries/SITL/SITL.h
+++ b/libraries/SITL/SITL.h
@@ -450,6 +450,7 @@ public:
     AP_Float accel_noise[INS_MAX_INSTANCES]; // in m/s/s
     AP_Vector3f accel_bias[INS_MAX_INSTANCES]; // in m/s/s
     AP_Vector3f accel_scale[INS_MAX_INSTANCES]; // in m/s/s
+    AP_Vector3f accel_trim;
     AP_Float accel_fail[INS_MAX_INSTANCES];  // accelerometer failure value
     // gyro and accel fail masks
     AP_Int8 gyro_fail_mask;