From fe0cb237336fabebd5c39c92825222d1947cfcdb Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <tridge@samba.org>
Date: Wed, 19 Feb 2014 10:29:00 +1100
Subject: [PATCH] AP_InertialSensor: fixed HIL for 400Hz INS

---
 libraries/AP_InertialSensor/AP_InertialSensor_HIL.cpp | 3 +++
 libraries/AP_InertialSensor/AP_InertialSensor_HIL.h   | 2 +-
 2 files changed, 4 insertions(+), 1 deletion(-)

diff --git a/libraries/AP_InertialSensor/AP_InertialSensor_HIL.cpp b/libraries/AP_InertialSensor/AP_InertialSensor_HIL.cpp
index 28ee41a6b6..059677e9dd 100644
--- a/libraries/AP_InertialSensor/AP_InertialSensor_HIL.cpp
+++ b/libraries/AP_InertialSensor/AP_InertialSensor_HIL.cpp
@@ -19,6 +19,9 @@ uint16_t AP_InertialSensor_HIL::_init_sensor( Sample_rate sample_rate ) {
     case RATE_200HZ:
         _sample_period_ms = 5;
         break;
+    case RATE_400HZ:
+        _sample_period_ms = 2.5;
+        break;
     }
     return AP_PRODUCT_ID_NONE;
 }
diff --git a/libraries/AP_InertialSensor/AP_InertialSensor_HIL.h b/libraries/AP_InertialSensor/AP_InertialSensor_HIL.h
index 3b5585a0e9..f9d66f1470 100644
--- a/libraries/AP_InertialSensor/AP_InertialSensor_HIL.h
+++ b/libraries/AP_InertialSensor/AP_InertialSensor_HIL.h
@@ -24,7 +24,7 @@ public:
 private:
     bool            _sample_available();
     uint16_t        _init_sensor( Sample_rate sample_rate );
-    uint32_t        _sample_period_ms;
+    float           _sample_period_ms;
     uint32_t        _last_update_ms;
     uint32_t        _delta_time_usec;
     uint32_t        _last_accel_usec;