From ee57908911a3f805ba89139fae6e64a06bbc72aa Mon Sep 17 00:00:00 2001
From: Andreas Antener <antener_a@gmx.ch>
Date: Sun, 26 Nov 2017 15:23:19 +0100
Subject: [PATCH] Provide access to FW integrators

---
 attitude_fw/ecl_controller.cpp | 5 +++++
 attitude_fw/ecl_controller.h   | 1 +
 2 files changed, 6 insertions(+)

diff --git a/attitude_fw/ecl_controller.cpp b/attitude_fw/ecl_controller.cpp
index 213b601838..7c4bc5b5fd 100644
--- a/attitude_fw/ecl_controller.cpp
+++ b/attitude_fw/ecl_controller.cpp
@@ -119,6 +119,11 @@ float ECL_Controller::get_desired_bodyrate()
 	return _bodyrate_setpoint;
 }
 
+float ECL_Controller::get_integrator()
+{
+	return _integrator;
+}
+
 float ECL_Controller::constrain_airspeed(float airspeed, float minspeed, float maxspeed)
 {
 	float airspeed_result = airspeed;
diff --git a/attitude_fw/ecl_controller.h b/attitude_fw/ecl_controller.h
index fe8909dd63..d9d2413fa9 100644
--- a/attitude_fw/ecl_controller.h
+++ b/attitude_fw/ecl_controller.h
@@ -97,6 +97,7 @@ public:
 	float get_rate_error();
 	float get_desired_rate();
 	float get_desired_bodyrate();
+	float get_integrator();
 
 	void reset_integrator();