From 1d50bb80fd58a7acfc0f6bcddb6ec094ad560271 Mon Sep 17 00:00:00 2001 From: Pat Hickey Date: Sat, 12 Nov 2011 22:44:04 -0800 Subject: [PATCH] hil-sensors ArduCopter: fixes to make hil-sensors build work properly * requires new stub libraries for InertialSensor and PeriodicProcess. --- ArduCopter/ArduCopter.pde | 7 ++++++- ArduCopter/system.pde | 2 -- 2 files changed, 6 insertions(+), 3 deletions(-) diff --git a/ArduCopter/ArduCopter.pde b/ArduCopter/ArduCopter.pde index bceb2da9f7..bf8e401396 100644 --- a/ArduCopter/ArduCopter.pde +++ b/ArduCopter/ArduCopter.pde @@ -206,7 +206,10 @@ AP_TimerProcess timer_scheduler; AP_GPS_HIL g_gps_driver(NULL); AP_IMU_Shim imu; AP_DCM dcm(&imu, g_gps); - AP_TimerProcess timer_scheduler; + AP_PeriodicProcessStub timer_scheduler; + AP_InertialSensor_Stub ins; + + static int32_t gps_base_alt; #elif HIL_MODE == HIL_MODE_ATTITUDE AP_ADC_HIL adc; @@ -214,6 +217,8 @@ AP_TimerProcess timer_scheduler; AP_GPS_HIL g_gps_driver(NULL); AP_Compass_HIL compass; // never used AP_IMU_Shim imu; // never used + AP_InertialSensorStub ins; + AP_PeriodicProcessStub timer_scheduler; #ifdef OPTFLOW_ENABLED AP_OpticalFlow_ADNS3080 optflow; #endif diff --git a/ArduCopter/system.pde b/ArduCopter/system.pde index 3537aff61b..53bbe591da 100644 --- a/ArduCopter/system.pde +++ b/ArduCopter/system.pde @@ -203,9 +203,7 @@ static void init_ardupilot() init_camera(); -#if HIL_MODE != HIL_MODE_ATTITUDE timer_scheduler.init( &isr_registry ); -#endif #if HIL_MODE != HIL_MODE_ATTITUDE #if CONFIG_ADC == ENABLED