From af80f20a51894dd1e52763ebf5bf417e961b53a3 Mon Sep 17 00:00:00 2001 From: Jonathan Challinger Date: Thu, 16 Apr 2015 16:41:54 -0700 Subject: [PATCH] AP_InertialSensor: add get_primary_gyro, fix get_primary_accel --- libraries/AP_InertialSensor/AP_InertialSensor.h | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/libraries/AP_InertialSensor/AP_InertialSensor.h b/libraries/AP_InertialSensor/AP_InertialSensor.h index e8b3e4d384..b82114fd1d 100644 --- a/libraries/AP_InertialSensor/AP_InertialSensor.h +++ b/libraries/AP_InertialSensor/AP_InertialSensor.h @@ -119,7 +119,6 @@ public: bool get_delta_angle(Vector3f &delta_angle) const { return get_delta_angle(_primary_gyro, delta_angle); } - //get delta velocity if available bool get_delta_velocity(uint8_t i, Vector3f &delta_velocity) const { if(_delta_velocity_valid[i]) delta_velocity = _delta_velocity[i]; @@ -197,7 +196,8 @@ public: uint16_t error_count(void) const { return 0; } bool healthy(void) const { return get_gyro_health() && get_accel_health(); } - uint8_t get_primary_accel(void) const { return 0; } + uint8_t get_primary_accel(void) const { return _primary_accel; } + uint8_t get_primary_gyro(void) const { return _primary_gyro; } // enable HIL mode void set_hil_mode(void) { _hil_mode = true; }