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AP_InertialSensor: enable get_accel_count() and get_gyro_count() APIs for HIL

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This commit is contained in:
Andrew Tridgell 2014-02-23 19:10:07 +11:00
parent 5d7346b5c2
commit 6732d6c79b
2 changed files with 18 additions and 0 deletions
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16
libraries/AP_InertialSensor/AP_InertialSensor_HIL.cpp
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@ -90,3 +90,19 @@ bool AP_InertialSensor_HIL::get_accel_health(uint8_t instance) const
return (hal.scheduler->micros() - _last_accel_usec[instance]) < 40000;
}
uint8_t AP_InertialSensor_HIL::get_gyro_count(void) const
{
if (get_gyro_health(1)) {
return 2;
}
return 1;
}
uint8_t AP_InertialSensor_HIL::get_accel_count(void) const
{
if (get_accel_health(1)) {
return 2;
}
return 1;
}

2
libraries/AP_InertialSensor/AP_InertialSensor_HIL.h
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@ -21,6 +21,8 @@ public:
void set_gyro(uint8_t instance, const Vector3f &gyro);
bool get_gyro_health(uint8_t instance) const;
bool get_accel_health(uint8_t instance) const;
uint8_t get_gyro_count(void) const;
uint8_t get_accel_count(void) const;
private:
bool _sample_available();