diff --git a/libraries/AP_InertialSensor/AP_InertialSensor.h b/libraries/AP_InertialSensor/AP_InertialSensor.h index 9008e1f587..02452e9650 100644 --- a/libraries/AP_InertialSensor/AP_InertialSensor.h +++ b/libraries/AP_InertialSensor/AP_InertialSensor.h @@ -194,6 +194,12 @@ public: // enable HIL mode void set_hil_mode(void) { _hil_mode = true; } + // get the gyro filter rate in Hz + uint8_t get_gyro_filter_hz(void) const { return _gyro_filter_cutoff; } + + // get the accel filter rate in Hz + uint8_t get_accel_filter_hz(void) const { return _accel_filter_cutoff; } + private: // load backend drivers