ardupilot/libraries/AP_InertialSensor/AP_InertialSensor_SITL.h

33 lines
738 B
C++

/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
#pragma once
#include <SITL/SITL.h>
#include "AP_InertialSensor.h"
#include "AP_InertialSensor_Backend.h"
#define INS_SITL_INSTANCES 2
class AP_InertialSensor_SITL : public AP_InertialSensor_Backend
{
public:
AP_InertialSensor_SITL(AP_InertialSensor &imu);
/* update accel and gyro state */
bool update();
// detect the sensor
static AP_InertialSensor_Backend *detect(AP_InertialSensor &imu);
private:
bool init_sensor(void);
void timer_update();
float rand_float(void);
float gyro_drift(void);
SITL::SITL *sitl;
uint8_t gyro_instance[INS_SITL_INSTANCES];
uint8_t accel_instance[INS_SITL_INSTANCES];
};