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SITL: correct compilation if INS_TEMPERATURE_CAL_ENABLE is off

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Peter Barker 2022-01-28 22:25:37 +11:00 committed by Andrew Tridgell
parent 558f6babc4
commit 4dfc9494ef
2 changed files with 6 additions and 0 deletions
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4
libraries/SITL/SITL.cpp
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@ -432,10 +432,12 @@ const AP_Param::GroupInfo SIM::var_sfml_joystick[] = {
// INS SITL parameters
const AP_Param::GroupInfo SIM::var_ins[] = {
#if HAL_INS_TEMPERATURE_CAL_ENABLE
AP_GROUPINFO("IMUT_START", 1, SIM, imu_temp_start, 25),
AP_GROUPINFO("IMUT_END", 2, SIM, imu_temp_end, 45),
AP_GROUPINFO("IMUT_TCONST", 3, SIM, imu_temp_tconst, 300),
AP_GROUPINFO("IMUT_FIXED", 4, SIM, imu_temp_fixed, 0),
#endif
AP_GROUPINFO("ACC1_BIAS", 5, SIM, accel_bias[0], 0),
#if INS_MAX_INSTANCES > 1
AP_GROUPINFO("ACC2_BIAS", 6, SIM, accel_bias[1], 0),
@ -493,6 +495,7 @@ const AP_Param::GroupInfo SIM::var_ins[] = {
AP_GROUPINFO("JSON_MASTER", 27, SIM, ride_along_master, 0),
// the IMUT parameters must be last due to the enable parameters
#if HAL_INS_TEMPERATURE_CAL_ENABLE
AP_SUBGROUPINFO(imu_tcal[0], "IMUT1_", 61, SIM, AP_InertialSensor::TCal),
#if INS_MAX_INSTANCES > 1
AP_SUBGROUPINFO(imu_tcal[1], "IMUT2_", 62, SIM, AP_InertialSensor::TCal),
@ -500,6 +503,7 @@ const AP_Param::GroupInfo SIM::var_ins[] = {
#if INS_MAX_INSTANCES > 2
AP_SUBGROUPINFO(imu_tcal[2], "IMUT3_", 63, SIM, AP_InertialSensor::TCal),
#endif
#endif // HAL_INS_TEMPERATURE_CAL_ENABLE
AP_GROUPEND
};

2
libraries/SITL/SITL.h
View File

@ -451,12 +451,14 @@ public:
float get_apparent_wind_dir() const{return state.wind_vane_apparent.direction;}
float get_apparent_wind_spd() const{return state.wind_vane_apparent.speed;}
#if HAL_INS_TEMPERATURE_CAL_ENABLE
// IMU temperature calibration params
AP_Float imu_temp_start;
AP_Float imu_temp_end;
AP_Float imu_temp_tconst;
AP_Float imu_temp_fixed;
AP_InertialSensor::TCal imu_tcal[INS_MAX_INSTANCES];
#endif
// IMU control parameters
AP_Float gyro_noise[INS_MAX_INSTANCES]; // in degrees/second