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AP_RangeFinder: removed special case for APM1 

the airspeed port doesn't have enough power for the sonar anyway
This commit is contained in:
Andrew Tridgell 2013-05-03 10:09:54 +10:00
parent 244a10aeb6
commit 0e66bac70b
1 changed files with 2 additions and 13 deletions
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13
libraries/AP_RangeFinder/AP_RangeFinder_analog.cpp
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@ -14,19 +14,14 @@
extern const AP_HAL::HAL& hal; extern const AP_HAL::HAL& hal;
#if CONFIG_HAL_BOARD == HAL_BOARD_APM1
#include <AP_ADC_AnalogSource.h>
# define SONAR_DEFAULT_PIN 127
#else
#define SONAR_DEFAULT_PIN 0 #define SONAR_DEFAULT_PIN 0
#endif
// table of user settable parameters // table of user settable parameters
const AP_Param::GroupInfo AP_RangeFinder_analog::var_info[] PROGMEM = { const AP_Param::GroupInfo AP_RangeFinder_analog::var_info[] PROGMEM = {
// @Param: PIN // @Param: PIN
// @DisplayName: Sonar pin // @DisplayName: Sonar pin
// @Description: Analog pin that sonar is connected to. Use pin number 127 for an APM1 Oilpan // @Description: Analog pin that sonar is connected to.
AP_GROUPINFO("PIN", 0, AP_RangeFinder_analog, _pin, SONAR_DEFAULT_PIN), AP_GROUPINFO("PIN", 0, AP_RangeFinder_analog, _pin, SONAR_DEFAULT_PIN),
// @Param: SCALING // @Param: SCALING
@ -103,12 +98,6 @@ void AP_RangeFinder_analog::Init(void *adc)
if (_source != NULL) { if (_source != NULL) {
return; return;
} }
#if CONFIG_HAL_BOARD == HAL_BOARD_APM1
if (_pin == 127) {
_source = new AP_ADC_AnalogSource((AP_ADC*)adc, 7, 1.0);
return;
}
#endif
_source = hal.analogin->channel(_pin); _source = hal.analogin->channel(_pin);
_source->set_stop_pin((uint8_t)_stop_pin); _source->set_stop_pin((uint8_t)_stop_pin);
_source->set_settle_time((uint16_t)_settle_time_ms); _source->set_settle_time((uint16_t)_settle_time_ms);