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AP_AHRS: Added getters for compass and GPS.

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This commit is contained in:
Michael Day 2013-11-27 18:16:51 -08:00 committed by Andrew Tridgell
parent 433ad19335
commit e5addf86c1
1 changed files with 9 additions and 1 deletions
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8
libraries/AP_AHRS/AP_AHRS.h
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@ -38,6 +38,7 @@ class AP_AHRS
public: public:
// Constructor // Constructor
AP_AHRS(AP_InertialSensor &ins, GPS *&gps) : AP_AHRS(AP_InertialSensor &ins, GPS *&gps) :
_compass(NULL),
_ins(ins), _ins(ins),
_gps(gps) _gps(gps)
{ {
@ -74,6 +75,9 @@ public:
set_orientation(); set_orientation();
} }
const Compass* get_compass() const {
return _compass;
}
// allow for runtime change of orientation // allow for runtime change of orientation
// this makes initial config easier // this makes initial config easier
@ -88,6 +92,10 @@ public:
_airspeed = airspeed; _airspeed = airspeed;
} }
const GPS *get_gps() const {
return _gps;
}
const AP_InertialSensor &get_ins() const { const AP_InertialSensor &get_ins() const {
return _ins; return _ins;
} }