ardupilot/libraries/AP_InertialSensor/AP_InertialSensor_SITL.h

49 lines
1.2 KiB
C++

#pragma once
#include <SITL/SITL.h>
#if CONFIG_HAL_BOARD == HAL_BOARD_SITL
#include "AP_InertialSensor.h"
#include "AP_InertialSensor_Backend.h"
// simulated sensor rates in Hz. This matches a pixhawk1
const uint16_t INS_SITL_SENSOR_A[] = { 1000, 1000 };
const uint16_t INS_SITL_SENSOR_B[] = { 760, 800 };
class AP_InertialSensor_SITL : public AP_InertialSensor_Backend
{
public:
AP_InertialSensor_SITL(AP_InertialSensor &imu, const uint16_t sample_rates[]);
/* update accel and gyro state */
bool update() override;
void start() 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();
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