From e8d8ca5eef6293fd815bd42e7bdc9abe4319af4a Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Thu, 14 Jul 2016 09:26:03 +1000
Subject: [PATCH] AP_Module: updated example module

---
 .../examples/ModuleTest/module/Makefile       |  7 +++--
 .../examples/ModuleTest/module/moduletest.c   | 30 ++++++++++++++++++-
 2 files changed, 33 insertions(+), 4 deletions(-)

diff --git a/libraries/AP_Module/examples/ModuleTest/module/Makefile b/libraries/AP_Module/examples/ModuleTest/module/Makefile
index 8e3dedcc56..6bbdb13383 100644
--- a/libraries/AP_Module/examples/ModuleTest/module/Makefile
+++ b/libraries/AP_Module/examples/ModuleTest/module/Makefile
@@ -1,13 +1,14 @@
 
 # minimal makefile setup for ARM linux targets
 
-CC=arm-linux-gnueabihf-gcc
-CFLAGS=-Wall -fPIC -g -shared
+COMPILER ?= arm-linux-gnueabihf-gcc
+AP_MODULE_PATH="../../.."
+CFLAGS=-Wall -fPIC -g -shared -I$(AP_MODULE_PATH)
 
 all: moduletest.so
 
 moduletest.so: moduletest.c
-	$(CC) $(CFLAGS) -o moduletest.so moduletest.c -ldl
+	$(COMPILER) $(CFLAGS) -o moduletest.so moduletest.c -ldl
 
 clean:
 	rm -f moduletest.so
diff --git a/libraries/AP_Module/examples/ModuleTest/module/moduletest.c b/libraries/AP_Module/examples/ModuleTest/module/moduletest.c
index 24acc32d5a..17a6ea58ae 100644
--- a/libraries/AP_Module/examples/ModuleTest/module/moduletest.c
+++ b/libraries/AP_Module/examples/ModuleTest/module/moduletest.c
@@ -7,7 +7,7 @@
 #include <stdbool.h>
 #include <math.h>
 
-#include "../../../AP_Module_Structures.h"
+#include <AP_Module_Structures.h>
 
 void hook_setup_start(uint64_t time_us)
 {
@@ -35,3 +35,31 @@ void hook_AHRS_update(const struct AHRS_state *state)
            degrees(state->eulers[1]),
            degrees(state->eulers[2]));
 }
+
+void hook_gyro_sample(const struct gyro_sample *state)
+{
+    static uint64_t last_print_us;
+    if (state->time_us - last_print_us < 1000000UL) {
+        return;
+    }
+    last_print_us = state->time_us;
+    // print gyro rates once per second
+    printf("gyro (%.1f,%.1f,%.1f)\n",
+           degrees(state->gyro[0]),
+           degrees(state->gyro[1]),
+           degrees(state->gyro[2]));    
+}
+
+void hook_accel_sample(const struct accel_sample *state)
+{
+    static uint64_t last_print_us;
+    if (state->time_us - last_print_us < 1000000UL) {
+        return;
+    }
+    last_print_us = state->time_us;
+    // print accels once per second
+    printf("accel (%.1f,%.1f,%.1f)\n",
+           state->accel[0],
+           state->accel[1],
+           state->accel[2]);
+}