From 239b09fb344c219f5f0212852e5e60852fe04c77 Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Mon, 11 Jan 2021 11:10:00 +1100
Subject: [PATCH] AP_InertialSensor: add simulator for ICM40609

---
 libraries/AP_InertialSensor/AP_InertialSensor.cpp | 3 +++
 1 file changed, 3 insertions(+)

diff --git a/libraries/AP_InertialSensor/AP_InertialSensor.cpp b/libraries/AP_InertialSensor/AP_InertialSensor.cpp
index 3000669fa5..f007e07e72 100644
--- a/libraries/AP_InertialSensor/AP_InertialSensor.cpp
+++ b/libraries/AP_InertialSensor/AP_InertialSensor.cpp
@@ -869,6 +869,9 @@ AP_InertialSensor::detect_backends(void)
     for (uint8_t i=0; i<AP::sitl()->imu_count; i++) {
         ADD_BACKEND(AP_InertialSensor_SITL::detect(*this, i==1?INS_SITL_SENSOR_B:INS_SITL_SENSOR_A));
     }
+#if defined(HAL_SITL_INVENSENSEV3)
+    ADD_BACKEND(AP_InertialSensor_Invensensev3::probe(*this, hal.i2c_mgr->get_device(1, 1), ROTATION_NONE));
+#endif
 #elif HAL_INS_DEFAULT == HAL_INS_HIL
     ADD_BACKEND(AP_InertialSensor_HIL::detect(*this));
 #elif AP_FEATURE_BOARD_DETECT