From 5a9ad6ddbb7e5d678f2bdc27a8655a09e11ee61b Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <tridge@samba.org>
Date: Mon, 16 Apr 2012 20:55:03 +1000
Subject: [PATCH] AHRS: enable AHRS_ group in ArduCopter
---
ArduCopter/Parameters.h | 1 +
ArduCopter/Parameters.pde | 7 ++++---
2 files changed, 5 insertions(+), 3 deletions(-)
diff --git a/ArduCopter/Parameters.h b/ArduCopter/Parameters.h
index 40e653835..47f82568c 100644
--- a/ArduCopter/Parameters.h
+++ b/ArduCopter/Parameters.h
@@ -102,6 +102,7 @@ public:
k_param_rtl_land_enabled,
k_param_axis_enabled,
k_param_copter_leds_mode, //158
+ k_param_ahrs, // AHRS group
//
// 160: Navigation parameters
diff --git a/ArduCopter/Parameters.pde b/ArduCopter/Parameters.pde
index ba9e31207..aba0a9be3 100644
--- a/ArduCopter/Parameters.pde
+++ b/ArduCopter/Parameters.pde
@@ -135,12 +135,13 @@ static const AP_Param::Info var_info[] PROGMEM = {
GOBJECT(compass, "COMPASS_", Compass),
GOBJECT(gcs0, "SR0_", GCS_MAVLINK),
GOBJECT(gcs3, "SR3_", GCS_MAVLINK),
- GOBJECT(imu, "IMU_", IMU)
+ GOBJECT(imu, "IMU_", IMU),
+ GOBJECT(ahrs, "AHRS_", AP_AHRS),
#if FRAME_CONFIG == HELI_FRAME
- ,GOBJECT(motors, "H_", AP_MotorsHeli)
+ GOBJECT(motors, "H_", AP_MotorsHeli),
#else
- ,GOBJECT(motors, "MOT_", AP_Motors)
+ GOBJECT(motors, "MOT_", AP_Motors),
#endif
};
--
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