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AP_InertialSensor: fixed 2nd IMU in Replay

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this makes for much more accurate replay runs
This commit is contained in:
Andrew Tridgell 2015-01-20 09:20:47 +11:00
parent ad8480d5f7
commit b3ce56d34d
1 changed files with 6 additions and 0 deletions
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6
libraries/AP_InertialSensor/AP_InertialSensor.cpp
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@ -1136,6 +1136,9 @@ void AP_InertialSensor::set_accel(uint8_t instance, const Vector3f &accel)
if (instance < INS_MAX_INSTANCES) { if (instance < INS_MAX_INSTANCES) {
_accel[instance] = accel; _accel[instance] = accel;
_accel_healthy[instance] = true; _accel_healthy[instance] = true;
if (_accel_count <= instance) {
_accel_count = instance+1;
}
} }
} }
@ -1144,6 +1147,9 @@ void AP_InertialSensor::set_gyro(uint8_t instance, const Vector3f &gyro)
if (instance < INS_MAX_INSTANCES) { if (instance < INS_MAX_INSTANCES) {
_gyro[instance] = gyro; _gyro[instance] = gyro;
_gyro_healthy[instance] = true; _gyro_healthy[instance] = true;
if (_gyro_count <= instance) {
_gyro_count = instance+1;
}
} }
} }