AP_InertialSensor: enable get_accel_count() and get_gyro_count() APIs for HIL

libraries/AP_InertialSensor/AP_InertialSensor_HIL.cpp

@@ -90,3 +90,19 @@ bool AP_InertialSensor_HIL::get_accel_health(uint8_t instance) const
     return (hal.scheduler->micros() - _last_accel_usec[instance]) < 40000;
 }
 
+uint8_t AP_InertialSensor_HIL::get_gyro_count(void) const
+{
+    if (get_gyro_health(1)) {
+        return 2;
+    }
+    return 1;
+}
+
+uint8_t AP_InertialSensor_HIL::get_accel_count(void) const
+{
+    if (get_accel_health(1)) {
+        return 2;
+    }
+    return 1;
+}
+

libraries/AP_InertialSensor/AP_InertialSensor_HIL.h

@@ -21,6 +21,8 @@ public:
     void            set_gyro(uint8_t instance, const Vector3f &gyro);
     bool            get_gyro_health(uint8_t instance) const;
     bool            get_accel_health(uint8_t instance) const;
+    uint8_t         get_gyro_count(void) const;
+    uint8_t         get_accel_count(void) const;
 
 private:
     bool            _sample_available();