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AP_AHRS: add beacon object to ahrs

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priseborough 2016-10-26 08:56:59 +11:00 committed by Randy Mackay
parent 4482743af5
commit b4961971e0
1 changed files with 13 additions and 0 deletions
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13
libraries/AP_AHRS/AP_AHRS.h
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@ -24,6 +24,7 @@
#include <inttypes.h>
#include <AP_Compass/AP_Compass.h>
#include <AP_Airspeed/AP_Airspeed.h>
#include <AP_Beacon/AP_Beacon.h>
#include <AP_GPS/AP_GPS.h>
#include <AP_InertialSensor/AP_InertialSensor.h>
#include <AP_Baro/AP_Baro.h>
@ -57,6 +58,7 @@ public:
_compass(nullptr),
_optflow(nullptr),
_airspeed(nullptr),
_beacon(nullptr),
_compass_last_update(0),
_ins(ins),
_baro(baro),
@ -149,10 +151,18 @@ public:
_airspeed = airspeed;
}
void set_beacon(AP_Beacon *beacon) {
_beacon = beacon;
}
const AP_Airspeed *get_airspeed(void) const {
return _airspeed;
}
const AP_Beacon *get_beacon(void) const {
return _beacon;
}
const AP_GPS &get_gps() const {
return _gps;
}
@ -513,6 +523,9 @@ protected:
// pointer to airspeed object, if available
AP_Airspeed * _airspeed;
// pointer to beacon object, if available
AP_Beacon * _beacon;
// time in microseconds of last compass update
uint32_t _compass_last_update;