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AP_InertialSensor: fixed SITL with new HIL code

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This commit is contained in:
Andrew Tridgell 2014-10-24 15:05:44 +11:00
parent aeaa3c1e04
commit ad7c612334
2 changed files with 3 additions and 0 deletions
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2
libraries/AP_InertialSensor/AP_InertialSensor.cpp
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@ -1078,6 +1078,7 @@ void AP_InertialSensor::set_accel(uint8_t instance, const Vector3f &accel)
{
if (instance < INS_MAX_INSTANCES) {
_accel[instance] = accel;
_accel_healthy[instance] = true;
}
}
@ -1085,6 +1086,7 @@ void AP_InertialSensor::set_gyro(uint8_t instance, const Vector3f &gyro)
{
if (instance < INS_MAX_INSTANCES) {
_gyro[instance] = gyro;
_gyro_healthy[instance] = true;
}
}

1
libraries/AP_InertialSensor/AP_InertialSensor_HIL.cpp
View File

@ -33,6 +33,7 @@ bool AP_InertialSensor_HIL::_init_sensor(void)
_imu.register_accel();
_product_id = AP_PRODUCT_ID_NONE;
_imu.set_hil_mode();
return true;
}