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Copter: update for Stub -> HIL

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This commit is contained in:
Andrew Tridgell 2013-09-28 19:34:34 +10:00
parent 287db19119
commit 234eaceb14
1 changed files with 3 additions and 3 deletions
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6
ArduCopter/ArduCopter.pde
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@ -222,7 +222,7 @@ static AP_InertialSensor_MPU6000 ins;
#elif CONFIG_IMU_TYPE == CONFIG_IMU_OILPAN #elif CONFIG_IMU_TYPE == CONFIG_IMU_OILPAN
static AP_InertialSensor_Oilpan ins(&adc); static AP_InertialSensor_Oilpan ins(&adc);
#elif CONFIG_IMU_TYPE == CONFIG_IMU_SITL #elif CONFIG_IMU_TYPE == CONFIG_IMU_SITL
static AP_InertialSensor_Stub ins; static AP_InertialSensor_HIL ins;
#elif CONFIG_IMU_TYPE == CONFIG_IMU_PX4 #elif CONFIG_IMU_TYPE == CONFIG_IMU_PX4
static AP_InertialSensor_PX4 ins; static AP_InertialSensor_PX4 ins;
#elif CONFIG_IMU_TYPE == CONFIG_IMU_FLYMAPLE #elif CONFIG_IMU_TYPE == CONFIG_IMU_FLYMAPLE
@ -291,7 +291,7 @@ static AP_ADC_HIL adc;
static AP_Baro_HIL barometer; static AP_Baro_HIL barometer;
static AP_Compass_HIL compass; static AP_Compass_HIL compass;
static AP_GPS_HIL g_gps_driver; static AP_GPS_HIL g_gps_driver;
static AP_InertialSensor_Stub ins; static AP_InertialSensor_HIL ins;
static AP_AHRS_DCM ahrs(&ins, g_gps); static AP_AHRS_DCM ahrs(&ins, g_gps);
static int32_t gps_base_alt; static int32_t gps_base_alt;
@ -303,7 +303,7 @@ static SITL sitl;
#elif HIL_MODE == HIL_MODE_ATTITUDE #elif HIL_MODE == HIL_MODE_ATTITUDE
static AP_ADC_HIL adc; static AP_ADC_HIL adc;
static AP_InertialSensor_Stub ins; static AP_InertialSensor_HIL ins;
static AP_AHRS_HIL ahrs(&ins, g_gps); static AP_AHRS_HIL ahrs(&ins, g_gps);
static AP_GPS_HIL g_gps_driver; static AP_GPS_HIL g_gps_driver;
static AP_Compass_HIL compass; // never used static AP_Compass_HIL compass; // never used