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AP_InertialSensor: add and use AP_SIM_INS_ENABLED

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Peter Barker 2021-10-30 12:15:49 +11:00 committed by Peter Barker
parent a31ff08f23
commit c1c329e2b4
4 changed files with 19 additions and 10 deletions
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11
libraries/AP_InertialSensor/AP_InertialSensor.cpp
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@ -1011,13 +1011,16 @@ AP_InertialSensor::detect_backends(void)
} }
#endif #endif
#if defined(HAL_INS_PROBE_LIST) #if AP_SIM_INS_ENABLED
// IMUs defined by IMU lines in hwdef.dat
HAL_INS_PROBE_LIST;
#elif CONFIG_HAL_BOARD == HAL_BOARD_SITL
for (uint8_t i=0; i<AP::sitl()->imu_count; i++) { for (uint8_t i=0; i<AP::sitl()->imu_count; i++) {
ADD_BACKEND(AP_InertialSensor_SITL::detect(*this, i==1?INS_SITL_SENSOR_B:INS_SITL_SENSOR_A)); ADD_BACKEND(AP_InertialSensor_SITL::detect(*this, i==1?INS_SITL_SENSOR_B:INS_SITL_SENSOR_A));
} }
return;
#endif
#if defined(HAL_INS_PROBE_LIST)
// IMUs defined by IMU lines in hwdef.dat
HAL_INS_PROBE_LIST;
#if defined(HAL_SITL_INVENSENSEV3) #if defined(HAL_SITL_INVENSENSEV3)
ADD_BACKEND(AP_InertialSensor_Invensensev3::probe(*this, hal.i2c_mgr->get_device(1, 1), ROTATION_NONE)); ADD_BACKEND(AP_InertialSensor_Invensensev3::probe(*this, hal.i2c_mgr->get_device(1, 1), ROTATION_NONE));
#endif #endif

4
libraries/AP_InertialSensor/AP_InertialSensor.h
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@ -47,6 +47,10 @@
#include <Filter/HarmonicNotchFilter.h> #include <Filter/HarmonicNotchFilter.h>
#include <AP_Math/polyfit.h> #include <AP_Math/polyfit.h>
#ifndef AP_SIM_INS_ENABLED
#define AP_SIM_INS_ENABLED (CONFIG_HAL_BOARD == HAL_BOARD_SITL)
#endif
class AP_InertialSensor_Backend; class AP_InertialSensor_Backend;
class AuxiliaryBus; class AuxiliaryBus;
class AP_AHRS; class AP_AHRS;

4
libraries/AP_InertialSensor/AP_InertialSensor_SITL.cpp
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@ -3,7 +3,7 @@
#include <SITL/SITL.h> #include <SITL/SITL.h>
#include <stdio.h> #include <stdio.h>
#if CONFIG_HAL_BOARD == HAL_BOARD_SITL #if AP_SIM_INS_ENABLED
const extern AP_HAL::HAL& hal; const extern AP_HAL::HAL& hal;
@ -347,4 +347,4 @@ void AP_InertialSensor_SITL::start()
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));
} }
#endif // HAL_BOARD_SITL #endif // AP_SIM_INS_ENABLED

10
libraries/AP_InertialSensor/AP_InertialSensor_SITL.h
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@ -1,15 +1,17 @@
#pragma once #pragma once
#include <SITL/SITL.h>
#if CONFIG_HAL_BOARD == HAL_BOARD_SITL
#include "AP_InertialSensor.h" #include "AP_InertialSensor.h"
#if AP_SIM_INS_ENABLED
#include "AP_InertialSensor_Backend.h" #include "AP_InertialSensor_Backend.h"
// simulated sensor rates in Hz. This matches a pixhawk1 // simulated sensor rates in Hz. This matches a pixhawk1
const uint16_t INS_SITL_SENSOR_A[] = { 1000, 1000 }; const uint16_t INS_SITL_SENSOR_A[] = { 1000, 1000 };
const uint16_t INS_SITL_SENSOR_B[] = { 760, 800 }; const uint16_t INS_SITL_SENSOR_B[] = { 760, 800 };
#include <SITL/SITL.h>
class AP_InertialSensor_SITL : public AP_InertialSensor_Backend class AP_InertialSensor_SITL : public AP_InertialSensor_Backend
{ {
public: public:
@ -47,4 +49,4 @@ private:
static uint8_t bus_id; static uint8_t bus_id;
}; };
#endif // CONFIG_HAL_BOARD #endif // AP_SIM_INS_ENABLED