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AP_InertialSensor: fixed default health functions

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this fixes INS on APM1. Thanks to Mike McCauley for noticing this!
This commit is contained in:
Andrew Tridgell 2014-01-22 22:08:28 +11:00
parent 604d7fce47
commit 58d3729d16
3 changed files with 4 additions and 21 deletions
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19
libraries/AP_InertialSensor/AP_InertialSensor.cpp
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@ -655,24 +655,5 @@ void AP_InertialSensor::_calculate_trim(Vector3f accel_sample, float& trim_roll,
}
}
/**
default versions of multi-device accessor functions
*/
bool AP_InertialSensor::get_gyro_health(uint8_t instance) const
{
if (instance != 0) {
return false;
}
return healthy();
}
bool AP_InertialSensor::get_accel_health(uint8_t instance) const
{
if (instance != 0) {
return false;
}
return healthy();
}
#endif // __AVR_ATmega1280__

4
libraries/AP_InertialSensor/AP_InertialSensor.h
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@ -110,11 +110,11 @@ public:
virtual void set_accel(const Vector3f &accel) {}
// multi-device interface
virtual bool get_gyro_health(uint8_t instance) const;
virtual bool get_gyro_health(uint8_t instance) const { return true; }
bool get_gyro_health(void) const { return get_gyro_health(_get_primary_gyro()); }
virtual uint8_t get_gyro_count(void) const { return 1; };
virtual bool get_accel_health(uint8_t instance) const;
virtual bool get_accel_health(uint8_t instance) const { return true; }
bool get_accel_health(void) const { return get_accel_health(_get_primary_accel()); }
virtual uint8_t get_accel_count(void) const { return 1; };

2
libraries/AP_InertialSensor/AP_InertialSensor_MPU6000.h
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@ -32,6 +32,8 @@ public:
uint16_t error_count(void) const { return _error_count; }
bool healthy(void) const { return _error_count <= 4; }
bool get_gyro_health(uint8_t instance) const { return healthy(); }
bool get_accel_health(uint8_t instance) const { return healthy(); }
protected:
uint16_t _init_sensor( Sample_rate sample_rate );