From 87292e0a4a6263fa009f2ee14c446086ba533c4c Mon Sep 17 00:00:00 2001 From: Michael Oborne Date: Sun, 31 Mar 2013 16:38:48 +0800 Subject: [PATCH] Init hil accel with gravity --- libraries/AP_InertialSensor/AP_InertialSensor_Stub.cpp | 6 ++++++ libraries/AP_InertialSensor/AP_InertialSensor_Stub.h | 3 +-- 2 files changed, 7 insertions(+), 2 deletions(-) diff --git a/libraries/AP_InertialSensor/AP_InertialSensor_Stub.cpp b/libraries/AP_InertialSensor/AP_InertialSensor_Stub.cpp index c3c1e58f72..1d3fd9ba17 100644 --- a/libraries/AP_InertialSensor/AP_InertialSensor_Stub.cpp +++ b/libraries/AP_InertialSensor/AP_InertialSensor_Stub.cpp @@ -4,6 +4,12 @@ #include const extern AP_HAL::HAL& hal; +AP_InertialSensor_Stub::AP_InertialSensor_Stub() { + Vector3f accels; + accels.z = -9.808; + set_accel(accels); + } + uint16_t AP_InertialSensor_Stub::_init_sensor( Sample_rate sample_rate ) { switch (sample_rate) { case RATE_50HZ: diff --git a/libraries/AP_InertialSensor/AP_InertialSensor_Stub.h b/libraries/AP_InertialSensor/AP_InertialSensor_Stub.h index 0d2f38737c..7b3d8cae4a 100644 --- a/libraries/AP_InertialSensor/AP_InertialSensor_Stub.h +++ b/libraries/AP_InertialSensor/AP_InertialSensor_Stub.h @@ -10,8 +10,7 @@ class AP_InertialSensor_Stub : public AP_InertialSensor { public: - AP_InertialSensor_Stub() { - } + AP_InertialSensor_Stub(); /* Concrete implementation of AP_InertialSensor functions: */ bool update();