From 6732d6c79b8b663730b0210537096a2baa7aa3bc Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <tridge@samba.org>
Date: Sun, 23 Feb 2014 19:10:07 +1100
Subject: [PATCH] AP_InertialSensor: enable get_accel_count() and
 get_gyro_count() APIs for HIL

---
 .../AP_InertialSensor/AP_InertialSensor_HIL.cpp  | 16 ++++++++++++++++
 .../AP_InertialSensor/AP_InertialSensor_HIL.h    |  2 ++
 2 files changed, 18 insertions(+)

diff --git a/libraries/AP_InertialSensor/AP_InertialSensor_HIL.cpp b/libraries/AP_InertialSensor/AP_InertialSensor_HIL.cpp
index 541cfd8ec9..a485a002af 100644
--- a/libraries/AP_InertialSensor/AP_InertialSensor_HIL.cpp
+++ b/libraries/AP_InertialSensor/AP_InertialSensor_HIL.cpp
@@ -90,3 +90,19 @@ bool AP_InertialSensor_HIL::get_accel_health(uint8_t instance) const
     return (hal.scheduler->micros() - _last_accel_usec[instance]) < 40000;
 }
 
+uint8_t AP_InertialSensor_HIL::get_gyro_count(void) const
+{
+    if (get_gyro_health(1)) {
+        return 2;
+    }
+    return 1;
+}
+
+uint8_t AP_InertialSensor_HIL::get_accel_count(void) const
+{
+    if (get_accel_health(1)) {
+        return 2;
+    }
+    return 1;
+}
+
diff --git a/libraries/AP_InertialSensor/AP_InertialSensor_HIL.h b/libraries/AP_InertialSensor/AP_InertialSensor_HIL.h
index 9035b24d02..235cf98ecf 100644
--- a/libraries/AP_InertialSensor/AP_InertialSensor_HIL.h
+++ b/libraries/AP_InertialSensor/AP_InertialSensor_HIL.h
@@ -21,6 +21,8 @@ public:
     void            set_gyro(uint8_t instance, const Vector3f &gyro);
     bool            get_gyro_health(uint8_t instance) const;
     bool            get_accel_health(uint8_t instance) const;
+    uint8_t         get_gyro_count(void) const;
+    uint8_t         get_accel_count(void) const;
 
 private:
     bool            _sample_available();