ardupilot/libraries/AP_AHRS/AP_AHRS_HIL.cpp

/*
 *       APM_AHRS_HIL.cpp
 *
 *       Hardware in the loop AHRS object
 *
 *       This library is free software; you can redistribute it and/or
 *       modify it under the terms of the GNU Lesser General Public
 *       License as published by the Free Software Foundation; either
 *       version 2.1 of the License, or (at your option) any later
 *       version.
 */

#include <AP_AHRS.h>

/**************************************************/
void
AP_AHRS_HIL::setHil(float _roll, float _pitch, float _yaw,
                    float _rollRate, float _pitchRate, float _yawRate)
{
    roll = _roll;
    pitch = _pitch;
    yaw = _yaw;

    _omega(_rollRate, _pitchRate, _yawRate);

    roll_sensor  = ToDeg(roll)*100;
    pitch_sensor = ToDeg(pitch)*100;
    yaw_sensor   = ToDeg(yaw)*100;

    _dcm_matrix.from_euler(roll, pitch, yaw);
}