/*
	APM_AHRS_HIL.cpp

	Hardware in the loop AHRS object

	This library is free software; you can redistribute it and/or
	modify it under the terms of the GNU Lesser General Public
	License as published by the Free Software Foundation; either
	version 2.1 of the License, or (at your option) any later
	version.
*/

#include <FastSerial.h>
#include <AP_AHRS.h>

/**************************************************/
void
AP_AHRS_HIL::setHil(float _roll, float _pitch, float _yaw,
		    float _rollRate, float _pitchRate, float _yawRate)
{
	roll = _roll;
	pitch = _pitch;
	yaw = _yaw;

	_omega(_rollRate, _pitchRate, _yawRate);

	roll_sensor  = ToDeg(roll)*100;
	pitch_sensor = ToDeg(pitch)*100;
	yaw_sensor   = ToDeg(yaw)*100;
}