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HAL_SITL: added InertialLabs simulator

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This commit is contained in:
Andrew Tridgell 2023-12-01 15:57:51 +11:00
parent 48ab76d06e
commit 38960a3db2
2 changed files with 15 additions and 0 deletions
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11
libraries/AP_HAL_SITL/SITL_State_common.cpp
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@ -276,6 +276,14 @@ SITL::SerialDevice *SITL_State_Common::create_serial_sim(const char *name, const
}
microstrain7 = new SITL::MicroStrain7();
return microstrain7;
} else if (streq(name, "ILabs")) {
if (inertiallabs != nullptr) {
AP_HAL::panic("Only one InertialLabs INS at a time");
}
inertiallabs = new SITL::InertialLabs();
return inertiallabs;
#if HAL_SIM_AIS_ENABLED
} else if (streq(name, "AIS")) {
if (ais != nullptr) {
@ -445,6 +453,9 @@ void SITL_State_Common::sim_update(void)
if (microstrain7 != nullptr) {
microstrain7->update();
}
if (inertiallabs != nullptr) {
inertiallabs->update();
}
#if HAL_SIM_AIS_ENABLED
if (ais != nullptr) {

4
libraries/AP_HAL_SITL/SITL_State_common.h
View File

@ -34,6 +34,7 @@
#include <SITL/SIM_RF_GYUS42v2.h>
#include <SITL/SIM_VectorNav.h>
#include <SITL/SIM_MicroStrain.h>
#include <SITL/SIM_InertialLabs.h>
#include <SITL/SIM_AIS.h>
#include <SITL/SIM_GPS.h>
@ -203,6 +204,9 @@ public:
// simulated MicroStrain system
SITL::MicroStrain7 *microstrain7;
// simulated InertialLabs INS
SITL::InertialLabs *inertiallabs;
#if HAL_SIM_JSON_MASTER_ENABLED
// Ride along instances via JSON SITL backend
SITL::JSON_Master ride_along;