mirror of https://github.com/ArduPilot/ardupilot
51 lines
1.2 KiB
C++
51 lines
1.2 KiB
C++
#pragma once
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#include <SITL/SITL.h>
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#if CONFIG_HAL_BOARD == HAL_BOARD_SITL
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#include "AP_InertialSensor.h"
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#include "AP_InertialSensor_Backend.h"
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// simulated sensor rates in Hz. This matches a pixhawk1
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const uint16_t INS_SITL_SENSOR_A[] = { 1000, 1000 };
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const uint16_t INS_SITL_SENSOR_B[] = { 760, 800 };
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class AP_InertialSensor_SITL : public AP_InertialSensor_Backend
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{
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public:
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AP_InertialSensor_SITL(AP_InertialSensor &imu, const uint16_t sample_rates[]);
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/* update accel and gyro state */
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bool update() override;
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void start() override;
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// detect the sensor
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static AP_InertialSensor_Backend *detect(AP_InertialSensor &imu, const uint16_t sample_rates[]);
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private:
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bool init_sensor(void);
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void timer_update();
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float gyro_drift(void);
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void generate_accel();
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void generate_gyro();
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float get_temperature(void);
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SITL::SIM *sitl;
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const uint16_t gyro_sample_hz;
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const uint16_t accel_sample_hz;
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uint8_t gyro_instance;
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uint8_t accel_instance;
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uint64_t next_gyro_sample;
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uint64_t next_accel_sample;
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float gyro_time;
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float accel_time;
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float gyro_motor_phase[12];
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float accel_motor_phase[12];
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uint32_t temp_start_ms;
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static uint8_t bus_id;
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};
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#endif // CONFIG_HAL_BOARD
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