From 87292e0a4a6263fa009f2ee14c446086ba533c4c Mon Sep 17 00:00:00 2001
From: Michael Oborne <mich146@hotmail.com>
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 <AP_HAL.h>
 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();