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AP_InertialSensor: add get_primary_gyro, fix get_primary_accel

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This commit is contained in:
Jonathan Challinger 2015-04-16 16:41:54 -07:00 committed by Randy Mackay
parent 0acc06d713
commit af80f20a51
1 changed files with 2 additions and 2 deletions
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4
libraries/AP_InertialSensor/AP_InertialSensor.h
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@ -119,7 +119,6 @@ public:
bool get_delta_angle(Vector3f &delta_angle) const { return get_delta_angle(_primary_gyro, delta_angle); }
//get delta velocity if available
bool get_delta_velocity(uint8_t i, Vector3f &delta_velocity) const {
if(_delta_velocity_valid[i]) delta_velocity = _delta_velocity[i];
@ -197,7 +196,8 @@ public:
uint16_t error_count(void) const { return 0; }
bool healthy(void) const { return get_gyro_health() && get_accel_health(); }
uint8_t get_primary_accel(void) const { return 0; }
uint8_t get_primary_accel(void) const { return _primary_accel; }
uint8_t get_primary_gyro(void) const { return _primary_gyro; }
// enable HIL mode
void set_hil_mode(void) { _hil_mode = true; }