AP_InertialSensor: update SITL to have device IDs

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:

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));

libraries/AP_InertialSensor/examples/VibTest/VibTest.cpp

@@ -7,7 +7,6 @@
 #include <AP_HAL/AP_HAL.h>
 #include <AP_Math/AP_Math.h>
 #include <AP_Param/AP_Param.h>
-#include <AP_ADC/AP_ADC.h>
 #include <AP_InertialSensor/AP_InertialSensor.h>
 #include <AP_Notify/AP_Notify.h>
 #include <AP_GPS/AP_GPS.h>