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AP_NMEA: fix example

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This commit is contained in:
Pierre Kancir 2021-02-09 21:32:49 +01:00 committed by Andrew Tridgell
parent 77367c1376
commit 2953aa3748
1 changed files with 20 additions and 13 deletions
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33
libraries/AP_NMEA_Output/examples/NMEA_Output/nmea_output.cpp
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@ -13,6 +13,7 @@
#include <AP_Baro/AP_Baro.h> #include <AP_Baro/AP_Baro.h>
#include <AP_NMEA_Output/AP_NMEA_Output.h> #include <AP_NMEA_Output/AP_NMEA_Output.h>
#include <AP_SerialManager/AP_SerialManager.h> #include <AP_SerialManager/AP_SerialManager.h>
#include <AP_Vehicle/AP_Vehicle.h>
void setup(); void setup();
void loop(); void loop();
@ -38,25 +39,31 @@ const struct AP_Param::Info var_info[] = {
AP_VAREND AP_VAREND
}; };
static AP_BoardConfig board_config;
static AP_InertialSensor ins;
static Compass compass;
static AP_Param param{var_info}; static AP_Param param{var_info};
static AP_GPS gps;
static AP_Baro barometer;
AP_Int32 logger_bitmask; AP_Int32 logger_bitmask;
static AP_Logger logger{logger_bitmask}; static AP_Logger logger{logger_bitmask};
class DummyVehicle { class DummyVehicle : public AP_Vehicle {
public: public:
AP_AHRS_NavEKF ahrs{AP_AHRS_NavEKF::FLAG_ALWAYS_USE_EKF}; AP_AHRS_NavEKF ahrs{AP_AHRS_NavEKF::FLAG_ALWAYS_USE_EKF};
bool set_mode(const uint8_t new_mode, const ModeReason reason) override { return true; };
uint8_t get_mode() const override { return 1; };
void get_scheduler_tasks(const AP_Scheduler::Task *&tasks, uint8_t &task_count, uint32_t &log_bit) override {};
void init_ardupilot() override {};
void load_parameters() override {};
void init() {
BoardConfig.init();
}
}; };
static DummyVehicle vehicle; static DummyVehicle vehicle;
void setup(void) void setup(void)
{ {
board_config.init(); vehicle.init();
if (!AP_Param::setup()) { if (!AP_Param::setup()) {
hal.console->printf("Failed to call setup\n"); hal.console->printf("Failed to call setup\n");
while(true); while(true);
@ -65,19 +72,19 @@ void setup(void)
hal.console->printf("Failed to set SERIAL0_PROTOCOL\n"); hal.console->printf("Failed to set SERIAL0_PROTOCOL\n");
while(true); while(true);
} }
ins.init(100); AP::ins().init(100);
serial_manager.init_console(); serial_manager.init_console();
serial_manager.init(); serial_manager.init();
vehicle.ahrs.init(); vehicle.ahrs.init();
compass.init(); AP::compass().init();
if(compass.read()) { if(AP::compass().read()) {
hal.console->printf("Enabling compass\n"); hal.console->printf("Enabling compass\n");
vehicle.ahrs.set_compass(&compass); vehicle.ahrs.set_compass(&AP::compass());
} else { } else {
hal.console->printf("No compass detected\n"); hal.console->printf("No compass detected\n");
} }
gps.init(serial_manager); AP::gps().init(serial_manager);
AP::rtc().set_utc_usec(1546300800000, AP_RTC::source_type::SOURCE_GPS); AP::rtc().set_utc_usec(1546300800000, AP_RTC::source_type::SOURCE_GPS);
} }
@ -88,7 +95,7 @@ void loop(void)
// read compass at 10Hz // read compass at 10Hz
if (now - last_compass > 100 * 1000UL && if (now - last_compass > 100 * 1000UL &&
compass.read()) { AP::compass().read()) {
last_compass = now; last_compass = now;
} }