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HAL_SITL: fixed build with new HIL INS API

This commit is contained in:
Andrew Tridgell 2014-02-23 19:09:41 +11:00
parent 4bcf9b5d98
commit 5d7346b5c2
1 changed files with 2 additions and 2 deletions
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4
libraries/AP_HAL_AVR_SITL/sitl_ins.cpp
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@ -152,8 +152,8 @@ void SITL_State::_update_ins(float roll, float pitch, float yaw, // Relative
q += _gyro_drift(); q += _gyro_drift();
r += _gyro_drift(); r += _gyro_drift();
_ins->set_gyro(Vector3f(p, q, r) + _ins->get_gyro_offsets()); _ins->set_gyro(0, Vector3f(p, q, r) + _ins->get_gyro_offsets());
_ins->set_accel(Vector3f(xAccel, yAccel, zAccel) + _ins->get_accel_offsets()); _ins->set_accel(0, Vector3f(xAccel, yAccel, zAccel) + _ins->get_accel_offsets());
sonar_pin_value = _ground_sonar(altitude); sonar_pin_value = _ground_sonar(altitude);
airspeed_pin_value = _airspeed_sensor(airspeed + (_sitl->aspd_noise * _rand_float())); airspeed_pin_value = _airspeed_sensor(airspeed + (_sitl->aspd_noise * _rand_float()));