ardupilot/libraries/AP_InertialSensor/AP_InertialSensor_NONE.h

59 lines
1.7 KiB
C++

#pragma once
#include <SITL/SITL.h>
#include <GCS_MAVLink/GCS.h>
/*
This is a 'mock' implementation of an INS that does nothing and gives a level HUD, but does it successfully.
Its useful for boards that don't have any form of IMU accel/gyro etc connected just yet, but where u want to boot-up "successfully" anyway,
such as the ESP32, to allow wifi connectivity to startup, and alow mavlink to start streaming anyway.
Its a rip-off of _SITL with all the sitl stuff removed or replaced with constants.
*/
#if CONFIG_HAL_BOARD == HAL_BOARD_ESP32
#include "AP_InertialSensor.h"
#include "AP_InertialSensor_Backend.h"
// simulated sensor rates in Hz. This matches a pixhawk1
const uint16_t INS_NONE_SENSOR_A[] = { 1000, 1000 };
class AP_InertialSensor_NONE : public AP_InertialSensor_Backend
{
public:
AP_InertialSensor_NONE(AP_InertialSensor &imu, const uint16_t sample_rates[]);
/* update accel and gyro state */
bool update() override;
void start() override;
void accumulate() override;
// detect the sensor
static AP_InertialSensor_Backend *detect(AP_InertialSensor &imu, const uint16_t sample_rates[]);
private:
bool init_sensor(void);
void timer_update();
float gyro_drift(void);
void generate_accel();
void generate_gyro();
//float rand_float(void);
//SITL::SITL *sitl;
const uint16_t gyro_sample_hz;
const uint16_t accel_sample_hz;
uint8_t gyro_instance;
uint8_t accel_instance;
uint64_t next_gyro_sample;
uint64_t next_accel_sample;
float gyro_time;
float accel_time;
float gyro_motor_phase[12];
float accel_motor_phase[12];
static uint8_t bus_id;
};
#endif // CONFIG_HAL_BOARD