From 3289e90134e71819f794a1efcbc0da6508c7d43f Mon Sep 17 00:00:00 2001 From: Andrew Tridgell Date: Thu, 10 Nov 2016 17:14:38 +1100 Subject: [PATCH] AP_InertialSensor: added error count increments in drivers --- .../AP_InertialSensor/AP_InertialSensor_Backend.cpp | 12 ++++++++++++ .../AP_InertialSensor/AP_InertialSensor_Backend.h | 6 ++++++ 2 files changed, 18 insertions(+) diff --git a/libraries/AP_InertialSensor/AP_InertialSensor_Backend.cpp b/libraries/AP_InertialSensor/AP_InertialSensor_Backend.cpp index 324e69433f..8f94e21e13 100644 --- a/libraries/AP_InertialSensor/AP_InertialSensor_Backend.cpp +++ b/libraries/AP_InertialSensor/AP_InertialSensor_Backend.cpp @@ -232,6 +232,18 @@ void AP_InertialSensor_Backend::_set_gyro_error_count(uint8_t instance, uint32_t _imu._gyro_error_count[instance] = error_count; } +// increment accelerometer error_count +void AP_InertialSensor_Backend::_inc_accel_error_count(uint8_t instance) +{ + _imu._accel_error_count[instance]++; +} + +// increment gyro error_count +void AP_InertialSensor_Backend::_inc_gyro_error_count(uint8_t instance) +{ + _imu._gyro_error_count[instance]++; +} + // return the requested sample rate in Hz uint16_t AP_InertialSensor_Backend::get_sample_rate_hz(void) const { diff --git a/libraries/AP_InertialSensor/AP_InertialSensor_Backend.h b/libraries/AP_InertialSensor/AP_InertialSensor_Backend.h index 2138dd33e3..e95ce68e04 100644 --- a/libraries/AP_InertialSensor/AP_InertialSensor_Backend.h +++ b/libraries/AP_InertialSensor/AP_InertialSensor_Backend.h @@ -140,6 +140,12 @@ protected: // set gyro error_count void _set_gyro_error_count(uint8_t instance, uint32_t error_count); + // increment accelerometer error_count + void _inc_accel_error_count(uint8_t instance); + + // increment gyro error_count + void _inc_gyro_error_count(uint8_t instance); + // backend unique identifier or -1 if backend doesn't identify itself int16_t _id = -1;