mirror of https://github.com/ArduPilot/ardupilot
43 lines
1.2 KiB
C++
43 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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#define INS_SITL_INSTANCES 2
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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);
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/* update accel and gyro state */
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bool update() override;
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// detect the sensor
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static AP_InertialSensor_Backend *detect(AP_InertialSensor &imu);
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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(uint8_t instance);
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void generate_gyro(uint8_t instance);
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SITL::SITL *sitl;
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// simulated sensor rates in Hz. This matches a pixhawk1
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const uint16_t gyro_sample_hz[INS_SITL_INSTANCES] { 1000, 760 };
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const uint16_t accel_sample_hz[INS_SITL_INSTANCES] { 1000, 800 };
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uint8_t gyro_instance[INS_SITL_INSTANCES];
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uint8_t accel_instance[INS_SITL_INSTANCES];
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uint64_t next_gyro_sample[INS_SITL_INSTANCES];
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uint64_t next_accel_sample[INS_SITL_INSTANCES];
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float gyro_motor_phase[INS_SITL_INSTANCES][12];
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float accel_motor_phase[INS_SITL_INSTANCES][12];
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};
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#endif // CONFIG_HAL_BOARD
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