#include <AP_InertialSensor_SITL.h>

Inheritance diagram for AP_InertialSensor_SITL:

Collaboration diagram for AP_InertialSensor_SITL:

Public Member Functions
	AP_InertialSensor_SITL (AP_InertialSensor &imu)

bool	update ()

Public Member Functions inherited from AP_InertialSensor_Backend
	AP_InertialSensor_Backend (AP_InertialSensor &imu)

	AP_InertialSensor_Backend (const AP_InertialSensor_Backend &that)=delete

virtual	~AP_InertialSensor_Backend (void)

virtual void	accumulate ()

virtual void	start ()

virtual AuxiliaryBus *	get_auxiliary_bus ()

int16_t	get_id () const

void	notify_fifo_reset (void)

Static Public Member Functions
static AP_InertialSensor_Backend *	detect (AP_InertialSensor &imu)

Private Member Functions
bool	init_sensor (void)

void	timer_update ()

float	gyro_drift (void)

void	generate_accel (uint8_t instance)

void	generate_gyro (uint8_t instance)

Private Attributes
SITL::SITL *	sitl

const uint16_t	gyro_sample_hz [INS_SITL_INSTANCES] { 1000, 760 }

const uint16_t	accel_sample_hz [INS_SITL_INSTANCES] { 1000, 800 }

uint8_t	gyro_instance [INS_SITL_INSTANCES]

uint8_t	accel_instance [INS_SITL_INSTANCES]

uint64_t	next_gyro_sample [INS_SITL_INSTANCES]

uint64_t	next_accel_sample [INS_SITL_INSTANCES]

Additional Inherited Members
Public Types inherited from AP_InertialSensor_Backend
enum	DevTypes { DEVTYPE_BMI160 = 0x09, DEVTYPE_L3G4200D = 0x10, DEVTYPE_ACC_LSM303D = 0x11, DEVTYPE_ACC_BMA180 = 0x12, DEVTYPE_ACC_MPU6000 = 0x13, DEVTYPE_ACC_MPU9250 = 0x16, DEVTYPE_ACC_IIS328DQ = 0x17, DEVTYPE_ACC_LSM9DS1 = 0x18, DEVTYPE_GYR_MPU6000 = 0x21, DEVTYPE_GYR_L3GD20 = 0x22, DEVTYPE_GYR_MPU9250 = 0x24, DEVTYPE_GYR_I3G4250D = 0x25, DEVTYPE_GYR_LSM9DS1 = 0x26, DEVTYPE_INS_ICM20789 = 0x27, DEVTYPE_INS_ICM20689 = 0x28 }

Protected Member Functions inherited from AP_InertialSensor_Backend
void	_rotate_and_correct_accel (uint8_t instance, Vector3f &accel)

void	_rotate_and_correct_gyro (uint8_t instance, Vector3f &gyro)

void	_publish_gyro (uint8_t instance, const Vector3f &gyro)

void	_notify_new_gyro_raw_sample (uint8_t instance, const Vector3f &accel, uint64_t sample_us=0)

void	_publish_accel (uint8_t instance, const Vector3f &accel)

void	_notify_new_accel_raw_sample (uint8_t instance, const Vector3f &accel, uint64_t sample_us=0, bool fsync_set=false)

void	_set_accel_oversampling (uint8_t instance, uint8_t n)

void	_set_gyro_oversampling (uint8_t instance, uint8_t n)

void	_set_accel_sensor_rate_sampling_enabled (uint8_t instance, bool value)

void	_set_gyro_sensor_rate_sampling_enabled (uint8_t instance, bool value)

void	_set_raw_sample_accel_multiplier (uint8_t instance, uint16_t mul)

void	_set_raw_sampl_gyro_multiplier (uint8_t instance, uint16_t mul)

void	_update_sensor_rate (uint16_t &count, uint32_t &start_us, float &rate_hz) const

void	_set_accel_max_abs_offset (uint8_t instance, float offset)

uint32_t	_accel_raw_sample_rate (uint8_t instance) const

void	_set_accel_raw_sample_rate (uint8_t instance, uint16_t rate_hz)

uint32_t	_gyro_raw_sample_rate (uint8_t instance) const

void	_set_gyro_raw_sample_rate (uint8_t instance, uint16_t rate_hz)

void	_publish_temperature (uint8_t instance, float temperature)

void	_set_accel_error_count (uint8_t instance, uint32_t error_count)

void	_set_gyro_error_count (uint8_t instance, uint32_t error_count)

void	_inc_accel_error_count (uint8_t instance)

void	_inc_gyro_error_count (uint8_t instance)

uint8_t	_accel_filter_cutoff (void) const

uint8_t	_gyro_filter_cutoff (void) const

uint16_t	get_sample_rate_hz (void) const

void	update_gyro (uint8_t instance)

void	update_accel (uint8_t instance)

void	set_gyro_orientation (uint8_t instance, enum Rotation rotation)

void	set_accel_orientation (uint8_t instance, enum Rotation rotation)

void	increment_clip_count (uint8_t instance)

bool	enable_fast_sampling (uint8_t instance)

void	_notify_new_accel_sensor_rate_sample (uint8_t instance, const Vector3f &accel)

void	_notify_new_gyro_sensor_rate_sample (uint8_t instance, const Vector3f &gyro)

void	notify_accel_fifo_reset (uint8_t instance)

void	notify_gyro_fifo_reset (uint8_t instance)

Protected Attributes inherited from AP_InertialSensor_Backend
AP_InertialSensor &	_imu

AP_HAL::Semaphore *	_sem

int16_t	_id = -1

int8_t	_last_accel_filter_hz [INS_MAX_INSTANCES]

int8_t	_last_gyro_filter_hz [INS_MAX_INSTANCES]

Detailed Description

Definition at line 10 of file AP_InertialSensor_SITL.h.

Constructor & Destructor Documentation

◆ AP_InertialSensor_SITL()

AP_InertialSensor_SITL::AP_InertialSensor_SITL ( AP_InertialSensor & imu )

Definition at line 10 of file AP_InertialSensor_SITL.cpp.

Referenced by detect().

Here is the caller graph for this function:

Member Function Documentation

◆ detect()

AP_InertialSensor_Backend * AP_InertialSensor_SITL::detect ( AP_InertialSensor & imu )

static

Definition at line 18 of file AP_InertialSensor_SITL.cpp.

Referenced by AP_InertialSensor::detect_backends().

Here is the call graph for this function:

Here is the caller graph for this function:

◆ generate_accel()

void AP_InertialSensor_SITL::generate_accel ( uint8_t instance )

private

Definition at line 52 of file AP_InertialSensor_SITL.cpp.

Referenced by timer_update().

Here is the call graph for this function:

Here is the caller graph for this function:

◆ generate_gyro()

void AP_InertialSensor_SITL::generate_gyro ( uint8_t instance )

private

Definition at line 105 of file AP_InertialSensor_SITL.cpp.

Referenced by timer_update().

Here is the call graph for this function:

Here is the caller graph for this function:

◆ gyro_drift()

float AP_InertialSensor_SITL::gyro_drift ( void )

private

Definition at line 162 of file AP_InertialSensor_SITL.cpp.

Referenced by generate_gyro().

Here is the call graph for this function:

Here is the caller graph for this function:

◆ init_sensor()

bool AP_InertialSensor_SITL::init_sensor ( void )

private

Definition at line 31 of file AP_InertialSensor_SITL.cpp.

Referenced by detect().

Here is the call graph for this function:

Here is the caller graph for this function:

◆ timer_update()

void AP_InertialSensor_SITL::timer_update ( void )

private

Definition at line 136 of file AP_InertialSensor_SITL.cpp.

Referenced by init_sensor().

Here is the call graph for this function:

Here is the caller graph for this function:

◆ update()

bool AP_InertialSensor_SITL::update ( void )

virtual

Implements AP_InertialSensor_Backend.

Definition at line 178 of file AP_InertialSensor_SITL.cpp.

Here is the call graph for this function:

Member Data Documentation

◆ accel_instance

uint8_t AP_InertialSensor_SITL::accel_instance[INS_SITL_INSTANCES]

private

Definition at line 35 of file AP_InertialSensor_SITL.h.

Referenced by generate_accel(), init_sensor(), and update().

◆ accel_sample_hz

const uint16_t AP_InertialSensor_SITL::accel_sample_hz[INS_SITL_INSTANCES] { 1000, 800 }

private

Definition at line 32 of file AP_InertialSensor_SITL.h.

Referenced by init_sensor(), and timer_update().

◆ gyro_instance

uint8_t AP_InertialSensor_SITL::gyro_instance[INS_SITL_INSTANCES]

private

Definition at line 34 of file AP_InertialSensor_SITL.h.

Referenced by generate_gyro(), init_sensor(), and update().

◆ gyro_sample_hz

const uint16_t AP_InertialSensor_SITL::gyro_sample_hz[INS_SITL_INSTANCES] { 1000, 760 }

private

Definition at line 31 of file AP_InertialSensor_SITL.h.

Referenced by init_sensor(), and timer_update().

◆ next_accel_sample

uint64_t AP_InertialSensor_SITL::next_accel_sample[INS_SITL_INSTANCES]

private

Definition at line 37 of file AP_InertialSensor_SITL.h.

Referenced by timer_update().

◆ next_gyro_sample

uint64_t AP_InertialSensor_SITL::next_gyro_sample[INS_SITL_INSTANCES]

private

Definition at line 36 of file AP_InertialSensor_SITL.h.

Referenced by timer_update().

◆ sitl

SITL::SITL* AP_InertialSensor_SITL::sitl

private

Definition at line 28 of file AP_InertialSensor_SITL.h.

Referenced by generate_accel(), generate_gyro(), gyro_drift(), and init_sensor().

The documentation for this class was generated from the following files:

libraries/AP_InertialSensor/AP_InertialSensor_SITL.h
libraries/AP_InertialSensor/AP_InertialSensor_SITL.cpp

Public Member Functions

Static Public Member Functions

Private Member Functions

Private Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ AP_InertialSensor_SITL()

Member Function Documentation

◆ detect()

◆ generate_accel()

◆ generate_gyro()

◆ gyro_drift()

◆ init_sensor()

◆ timer_update()

◆ update()

Member Data Documentation

◆ accel_instance

◆ accel_sample_hz

◆ gyro_instance

◆ gyro_sample_hz

◆ next_accel_sample

◆ next_gyro_sample

◆ sitl