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simulator: publish 2 instances of accel/baro/gyro/mag

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This commit is contained in:
Daniel Agar
2020-09-02 10:42:02 -04:00
committed by GitHub
parent 668c16da83
commit 5017a7e33a
3 changed files with 33 additions and 12 deletions
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src/modules/simulator/simulator.h
+11 -4
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@@ -154,10 +154,17 @@ private:
static Simulator *_instance;
// simulated sensor instances
PX4Accelerometer _px4_accel{1311244}; // 1311244: DRV_IMU_DEVTYPE_SIM, BUS: 1, ADDR: 1, TYPE: SIMULATION
PX4Gyroscope _px4_gyro{1311244}; // 2294028: DRV_IMU_DEVTYPE_SIM, BUS: 1, ADDR: 1, TYPE: SIMULATION
PX4Magnetometer _px4_mag{197388}; // 197388: DRV_MAG_DEVTYPE_MAGSIM, BUS: 3, ADDR: 1, TYPE: SIMULATION
PX4Barometer _px4_baro{6620172}; // 6620172: DRV_BARO_DEVTYPE_BAROSIM, BUS: 1, ADDR: 4, TYPE: SIMULATION
PX4Accelerometer _px4_accel_0{1311244, ROTATION_NONE}; // 1311244: DRV_IMU_DEVTYPE_SIM, BUS: 1, ADDR: 1, TYPE: SIMULATION
PX4Accelerometer _px4_accel_1{1311500, ROTATION_NONE}; // 1311500: DRV_IMU_DEVTYPE_SIM, BUS: 2, ADDR: 1, TYPE: SIMULATION
PX4Gyroscope _px4_gyro_0{1311244, ROTATION_NONE}; // 1311244: DRV_IMU_DEVTYPE_SIM, BUS: 1, ADDR: 1, TYPE: SIMULATION
PX4Gyroscope _px4_gyro_1{1311500, ROTATION_NONE}; // 1311500: DRV_IMU_DEVTYPE_SIM, BUS: 2, ADDR: 1, TYPE: SIMULATION
PX4Magnetometer _px4_mag_0{197388, ROTATION_NONE}; // 197388: DRV_MAG_DEVTYPE_MAGSIM, BUS: 1, ADDR: 1, TYPE: SIMULATION
PX4Magnetometer _px4_mag_1{197644, ROTATION_NONE}; // 197644: DRV_MAG_DEVTYPE_MAGSIM, BUS: 2, ADDR: 1, TYPE: SIMULATION
PX4Barometer _px4_baro_0{6620172}; // 6620172: DRV_BARO_DEVTYPE_BAROSIM, BUS: 1, ADDR: 4, TYPE: SIMULATION
PX4Barometer _px4_baro_1{6620428}; // 6620428: DRV_BARO_DEVTYPE_BAROSIM, BUS: 2, ADDR: 4, TYPE: SIMULATION
perf_counter_t _perf_sim_delay{perf_alloc(PC_ELAPSED, MODULE_NAME": network delay")};
perf_counter_t _perf_sim_interval{perf_alloc(PC_INTERVAL, MODULE_NAME": network interval")};