From 0f9ac71e6aa02dbd606371e83a681a4cf4c98632 Mon Sep 17 00:00:00 2001
From: "james.goppert" <james.goppert@f9c3cf11-9bcb-44bc-f272-b75c42450872>
Date: Fri, 26 Nov 2010 21:45:16 +0000
Subject: [PATCH] HIL debugging AP_DCM

git-svn-id: https://arducopter.googlecode.com/svn/trunk@940 f9c3cf11-9bcb-44bc-f272-b75c42450872
---
 libraries/AP_DCM/AP_DCM_FW.cpp | 5 +++++
 libraries/AP_DCM/AP_DCM_FW.h   | 1 +
 2 files changed, 6 insertions(+)

diff --git a/libraries/AP_DCM/AP_DCM_FW.cpp b/libraries/AP_DCM/AP_DCM_FW.cpp
index 6f2393f49f..28d46dfe05 100644
--- a/libraries/AP_DCM/AP_DCM_FW.cpp
+++ b/libraries/AP_DCM/AP_DCM_FW.cpp
@@ -165,6 +165,11 @@ printm(const char *l, Matrix3f &m)
 	Serial.print(*(uint32_t *)&(m.c.x), HEX); Serial.print(" "); Serial.print(*(uint32_t *)&(m.c.y), HEX); Serial.print(" ");  Serial.println(*(uint32_t *)&(m.c.z), HEX);
 }
 */
+
+/**************************************************/
+AP_IMU *
+AP_DCM_FW::get_imu(void)
+{	return &_imu;}
  
 /**************************************************/
 void 
diff --git a/libraries/AP_DCM/AP_DCM_FW.h b/libraries/AP_DCM/AP_DCM_FW.h
index 40ef78e59d..4dd4179f33 100644
--- a/libraries/AP_DCM/AP_DCM_FW.h
+++ b/libraries/AP_DCM/AP_DCM_FW.h
@@ -28,6 +28,7 @@ public:
 	Vector3f	get_gyros(void);
 	Vector3f	get_accels(void);
 	Matrix3f	get_dcm_matrix(void);
+	AP_IMU * get_imu(void);
 	
 	// Methods
 	void	quick_init(uint16_t *_offset_address);