From c16467a47f6e72b6f35095c1e7d2df9ba73d66df Mon Sep 17 00:00:00 2001 From: Andrew Tridgell Date: Thu, 27 Aug 2020 18:32:37 +1000 Subject: [PATCH] SITL: added SIM_IMU_COUNT --- libraries/SITL/SITL.cpp | 3 +++ libraries/SITL/SITL.h | 1 + 2 files changed, 4 insertions(+) diff --git a/libraries/SITL/SITL.cpp b/libraries/SITL/SITL.cpp index aa5c5a5578..6b32d5e06f 100644 --- a/libraries/SITL/SITL.cpp +++ b/libraries/SITL/SITL.cpp @@ -249,6 +249,9 @@ const AP_Param::GroupInfo SITL::var_info3[] = { // user settable common airspeed parameters AP_GROUPINFO("ARSPD_SIGN", 62, SITL, arspd_signflip, 0), + // count of simulated IMUs + AP_GROUPINFO("IMU_COUNT", 36, SITL, imu_count, 2), + AP_GROUPEND }; diff --git a/libraries/SITL/SITL.h b/libraries/SITL/SITL.h index 0c0e7d4082..ef350ea086 100644 --- a/libraries/SITL/SITL.h +++ b/libraries/SITL/SITL.h @@ -208,6 +208,7 @@ public: AP_Int8 telem_baudlimit_enable; // enable baudrate limiting on links AP_Float flow_noise; // optical flow measurement noise (rad/sec) AP_Int8 baro_count; // number of simulated baros to create + AP_Int8 imu_count; // number of simulated IMUs to create AP_Int32 loop_delay; // extra delay to add to every loop AP_Float mag_scaling; // scaling factor on first compasses AP_Int32 mag_devid[MAX_CONNECTED_MAGS]; // Mag devid