From b4961971e06dff77ea232fe64e54b93e789f6277 Mon Sep 17 00:00:00 2001
From: priseborough <p_riseborough@live.com.au>
Date: Wed, 26 Oct 2016 08:56:59 +1100
Subject: [PATCH] AP_AHRS: add beacon object to ahrs

---
 libraries/AP_AHRS/AP_AHRS.h | 13 +++++++++++++
 1 file changed, 13 insertions(+)

diff --git a/libraries/AP_AHRS/AP_AHRS.h b/libraries/AP_AHRS/AP_AHRS.h
index becae6ce4b..bec050ca9d 100644
--- a/libraries/AP_AHRS/AP_AHRS.h
+++ b/libraries/AP_AHRS/AP_AHRS.h
@@ -24,6 +24,7 @@
 #include <inttypes.h>
 #include <AP_Compass/AP_Compass.h>
 #include <AP_Airspeed/AP_Airspeed.h>
+#include <AP_Beacon/AP_Beacon.h>
 #include <AP_GPS/AP_GPS.h>
 #include <AP_InertialSensor/AP_InertialSensor.h>
 #include <AP_Baro/AP_Baro.h>
@@ -57,6 +58,7 @@ public:
         _compass(nullptr),
         _optflow(nullptr),
         _airspeed(nullptr),
+        _beacon(nullptr),
         _compass_last_update(0),
         _ins(ins),
         _baro(baro),
@@ -149,10 +151,18 @@ public:
         _airspeed = airspeed;
     }
 
+    void set_beacon(AP_Beacon *beacon) {
+        _beacon = beacon;
+    }
+
     const AP_Airspeed *get_airspeed(void) const {
         return _airspeed;
     }
 
+    const AP_Beacon *get_beacon(void) const {
+        return _beacon;
+    }
+
     const AP_GPS &get_gps() const {
         return _gps;
     }
@@ -513,6 +523,9 @@ protected:
     // pointer to airspeed object, if available
     AP_Airspeed     * _airspeed;
 
+    // pointer to beacon object, if available
+    AP_Beacon     * _beacon;
+
     // time in microseconds of last compass update
     uint32_t _compass_last_update;