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38 lines
1.0 KiB
38 lines
1.0 KiB
#pragma once |
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#include <SITL/SITL.h> |
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#include "AP_InertialSensor.h" |
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#include "AP_InertialSensor_Backend.h" |
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#define INS_SITL_INSTANCES 2 |
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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); |
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/* update accel and gyro state */ |
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bool update() override; |
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// detect the sensor |
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static AP_InertialSensor_Backend *detect(AP_InertialSensor &imu); |
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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(uint8_t instance); |
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void generate_gyro(uint8_t instance); |
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SITL::SITL *sitl; |
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// simulated sensor rates in Hz. This matches a pixhawk1 |
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const uint16_t gyro_sample_hz[INS_SITL_INSTANCES] { 1000, 760 }; |
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const uint16_t accel_sample_hz[INS_SITL_INSTANCES] { 1000, 800 }; |
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uint8_t gyro_instance[INS_SITL_INSTANCES]; |
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uint8_t accel_instance[INS_SITL_INSTANCES]; |
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uint64_t next_gyro_sample[INS_SITL_INSTANCES]; |
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uint64_t next_accel_sample[INS_SITL_INSTANCES]; |
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};
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