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HIL debugging AP_DCM

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git-svn-id: https://arducopter.googlecode.com/svn/trunk@940 f9c3cf11-9bcb-44bc-f272-b75c42450872
This commit is contained in:
james.goppert 2010-11-26 21:45:16 +00:00
parent 51696e63af
commit 0f9ac71e6a
2 changed files with 6 additions and 0 deletions
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5
libraries/AP_DCM/AP_DCM_FW.cpp
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@ -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); 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 void

1
libraries/AP_DCM/AP_DCM_FW.h
View File

@ -28,6 +28,7 @@ public:
Vector3f get_gyros(void); Vector3f get_gyros(void);
Vector3f get_accels(void); Vector3f get_accels(void);
Matrix3f get_dcm_matrix(void); Matrix3f get_dcm_matrix(void);
AP_IMU * get_imu(void);
// Methods // Methods
void quick_init(uint16_t *_offset_address); void quick_init(uint16_t *_offset_address);