From 096f7367bf148a42ae19437a921a43422dbf20bb Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Mon, 13 Nov 2017 18:09:43 +1100
Subject: [PATCH] AP_InertialSensor: add ins() to AP:: namespace

---
 libraries/AP_InertialSensor/AP_InertialSensor.cpp | 10 ++++++++++
 libraries/AP_InertialSensor/AP_InertialSensor.h   |  4 ++++
 2 files changed, 14 insertions(+)

diff --git a/libraries/AP_InertialSensor/AP_InertialSensor.cpp b/libraries/AP_InertialSensor/AP_InertialSensor.cpp
index 7510b40c77..1e838129c5 100644
--- a/libraries/AP_InertialSensor/AP_InertialSensor.cpp
+++ b/libraries/AP_InertialSensor/AP_InertialSensor.cpp
@@ -1995,3 +1995,13 @@ MAV_RESULT AP_InertialSensor::simple_accel_cal(AP_AHRS &ahrs)
 
     return result;
 }
+
+
+namespace AP {
+
+AP_InertialSensor &ins()
+{
+    return *AP_InertialSensor::get_instance();
+}
+
+};
diff --git a/libraries/AP_InertialSensor/AP_InertialSensor.h b/libraries/AP_InertialSensor/AP_InertialSensor.h
index 1dcf85835b..be183db744 100644
--- a/libraries/AP_InertialSensor/AP_InertialSensor.h
+++ b/libraries/AP_InertialSensor/AP_InertialSensor.h
@@ -563,3 +563,7 @@ private:
     bool _startup_error_counts_set;
     uint32_t _startup_ms;
 };
+
+namespace AP {
+    AP_InertialSensor &ins();
+};