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52 lines
1.2 KiB
52 lines
1.2 KiB
#pragma once |
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#include "AP_InertialSensor.h" |
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#if AP_SIM_INS_ENABLED |
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#include "AP_InertialSensor_Backend.h" |
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// simulated sensor rates in Hz. This matches a pixhawk1 |
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const uint16_t INS_SITL_SENSOR_A[] = { 1000, 1000 }; |
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const uint16_t INS_SITL_SENSOR_B[] = { 760, 800 }; |
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#include <SITL/SITL.h> |
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class AP_InertialSensor_SITL : public AP_InertialSensor_Backend |
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{ |
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public: |
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AP_InertialSensor_SITL(AP_InertialSensor &imu, const uint16_t sample_rates[]); |
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/* update accel and gyro state */ |
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bool update() override; |
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void start() override; |
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// detect the sensor |
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static AP_InertialSensor_Backend *detect(AP_InertialSensor &imu, const uint16_t sample_rates[]); |
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private: |
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bool init_sensor(void); |
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void timer_update(); |
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float gyro_drift(void); |
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void generate_accel(); |
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void generate_gyro(); |
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float get_temperature(void); |
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SITL::SIM *sitl; |
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const uint16_t gyro_sample_hz; |
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const uint16_t accel_sample_hz; |
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uint8_t gyro_instance; |
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uint8_t accel_instance; |
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uint64_t next_gyro_sample; |
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uint64_t next_accel_sample; |
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float gyro_time; |
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float accel_time; |
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float gyro_motor_phase[12]; |
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float accel_motor_phase[12]; |
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uint32_t temp_start_ms; |
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static uint8_t bus_id; |
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}; |
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#endif // AP_SIM_INS_ENABLED
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