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AP_HAL: added InertialLabs simulator

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This commit is contained in:
Andrew Tridgell 2023-12-01 15:57:37 +11:00
parent a17438d52c
commit 48ab76d06e
2 changed files with 7 additions and 0 deletions
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3
libraries/AP_HAL/SIMState.cpp
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@ -230,6 +230,9 @@ void SIMState::fdm_input_local(void)
if (microstrain5 != nullptr) {
microstrain5->update();
}
if (inertiallabs != nullptr) {
inertiallabs->update();
}
#if HAL_SIM_AIS_ENABLED
if (ais != nullptr) {

4
libraries/AP_HAL/SIMState.h
View File

@ -30,6 +30,7 @@
#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>
@ -198,6 +199,9 @@ private:
// simulated MicroStrain Series 7 system
SITL::MicroStrain7 *microstrain7;
// simulated InertialLabs INS-U
SITL::InertialLabs *inertiallabs;
#if HAL_SIM_JSON_MASTER_ENABLED
// Ride along instances via JSON SITL backend
SITL::JSON_Master ride_along;