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Added accessors back for Accels. I need them there until we need to find another solution.

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git-svn-id: https://arducopter.googlecode.com/svn/trunk@1676 f9c3cf11-9bcb-44bc-f272-b75c42450872
This commit is contained in:
jasonshort 2011-02-19 03:57:19 +00:00
parent da4cff5440
commit e6e161d56d
2 changed files with 18 additions and 1 deletions
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6
libraries/AP_IMU/AP_IMU_Oilpan.cpp
View File

@ -123,6 +123,12 @@ AP_IMU_Oilpan::_init_gyro()
} }
} }
void
AP_IMU_Oilpan::save()
{
_sensor_cal.save();
}
void void
AP_IMU_Oilpan::init_accel() AP_IMU_Oilpan::init_accel()
{ {

11
libraries/AP_IMU/AP_IMU_Oilpan.h
View File

@ -42,10 +42,21 @@ public:
/// ///
virtual void init(Start_style style = COLD_START); virtual void init(Start_style style = COLD_START);
virtual void save();
virtual void init_accel(); virtual void init_accel();
virtual void init_gyro(); virtual void init_gyro();
virtual bool update(void); virtual bool update(void);
// for jason
int ax() { return _sensor_cal[3]; }
int ay() { return _sensor_cal[4]; }
int az() { return _sensor_cal[5]; }
void ax(const int v) { _sensor_cal[3] = v; }
void ay(const int v) { _sensor_cal[4] = v; }
void az(const int v) { _sensor_cal[5] = v; }
private: private:
AP_ADC *_adc; ///< ADC that we use for reading sensors AP_ADC *_adc; ///< ADC that we use for reading sensors
AP_VarA<float,6> _sensor_cal; ///< Calibrated sensor offsets AP_VarA<float,6> _sensor_cal; ///< Calibrated sensor offsets