From bc2d17e76e88ee38227a07eea69cfee953d1f932 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <tridge@samba.org>
Date: Sun, 29 Dec 2013 22:55:20 +1100
Subject: [PATCH] AP_Compass: added vector compass setHIL method

---
 libraries/AP_Compass/AP_Compass_HIL.cpp | 10 ++++++++++
 libraries/AP_Compass/AP_Compass_HIL.h   |  2 ++
 2 files changed, 12 insertions(+)

diff --git a/libraries/AP_Compass/AP_Compass_HIL.cpp b/libraries/AP_Compass/AP_Compass_HIL.cpp
index 6b4af4c80b..805c3af966 100644
--- a/libraries/AP_Compass/AP_Compass_HIL.cpp
+++ b/libraries/AP_Compass/AP_Compass_HIL.cpp
@@ -106,6 +106,16 @@ void AP_Compass_HIL::setHIL(float roll, float pitch, float yaw)
     _healthy[0] = true;
 }
 
+// Update raw magnetometer values from HIL mag vector
+//
+void AP_Compass_HIL::setHIL(const Vector3i &mag)
+{
+    _hil_mag.x = mag.x;
+    _hil_mag.y = mag.y;
+    _hil_mag.z = mag.z;
+    _healthy[0] = true;
+}
+
 void AP_Compass_HIL::accumulate(void)
 {
     // nothing to do
diff --git a/libraries/AP_Compass/AP_Compass_HIL.h b/libraries/AP_Compass/AP_Compass_HIL.h
index 53e3c0e848..3bb6383724 100644
--- a/libraries/AP_Compass/AP_Compass_HIL.h
+++ b/libraries/AP_Compass/AP_Compass_HIL.h
@@ -11,6 +11,8 @@ public:
     bool        read(void);
     void        accumulate(void);
     void        setHIL(float roll, float pitch, float yaw);
+    void        setHIL(const Vector3i &mag);
+
 private:
     Vector3f    _hil_mag;
     Vector3f    _Bearth;