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Sprayer: fixed example sketch

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Randy Mackay 2013-11-24 14:11:52 +09:00
parent b248cc0868
commit 2d202df98a
1 changed files with 6 additions and 4 deletions
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10
libraries/AC_Sprayer/examples/AC_Sprayer_test/AC_Sprayer_test.pde
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@ -11,6 +11,7 @@
#include <AP_HAL_AVR.h> #include <AP_HAL_AVR.h>
#include <AP_GPS.h> // ArduPilot GPS library #include <AP_GPS.h> // ArduPilot GPS library
#include <AP_GPS_Glitch.h> // GPS glitch protection library
#include <AP_ADC.h> // ArduPilot Mega Analog to Digital Converter Library #include <AP_ADC.h> // ArduPilot Mega Analog to Digital Converter Library
#include <AP_ADC_AnalogSource.h> #include <AP_ADC_AnalogSource.h>
#include <AP_Baro.h> // ArduPilot Mega Barometer Library #include <AP_Baro.h> // ArduPilot Mega Barometer Library
@ -20,6 +21,7 @@
#include <AP_InertialSensor.h> // ArduPilot Mega Inertial Sensor (accel & gyro) Library #include <AP_InertialSensor.h> // ArduPilot Mega Inertial Sensor (accel & gyro) Library
#include <AP_AHRS.h> #include <AP_AHRS.h>
#include <AP_Airspeed.h> #include <AP_Airspeed.h>
#include <AP_Vehicle.h>
#include <AC_PID.h> // PID library #include <AC_PID.h> // PID library
#include <APM_PI.h> // PID library #include <APM_PI.h> // PID library
#include <AP_Buffer.h> // ArduPilot general purpose FIFO buffer #include <AP_Buffer.h> // ArduPilot general purpose FIFO buffer
@ -27,6 +29,7 @@
#include <GCS_MAVLink.h> #include <GCS_MAVLink.h>
#include <RC_Channel.h> #include <RC_Channel.h>
#include <AC_Sprayer.h> // Crop Sprayer library #include <AC_Sprayer.h> // Crop Sprayer library
#include <AP_Notify.h>
const AP_HAL::HAL& hal = AP_HAL_BOARD_DRIVER; const AP_HAL::HAL& hal = AP_HAL_BOARD_DRIVER;
@ -46,12 +49,13 @@ AP_Baro_BMP085 baro;
// GPS declaration // GPS declaration
GPS *gps; GPS *gps;
AP_GPS_Auto auto_gps(&gps); AP_GPS_Auto auto_gps(&gps);
GPS_Glitch gps_glitch(gps);
AP_Compass_HMC5843 compass; AP_Compass_HMC5843 compass;
AP_AHRS_DCM ahrs(&ins, gps); AP_AHRS_DCM ahrs(ins, gps);
// Inertial Nav declaration // Inertial Nav declaration
AP_InertialNav inertial_nav(&ahrs, &ins, &baro, &gps); AP_InertialNav inertial_nav(&ahrs, &baro, gps, gps_glitch);
// Sprayer // Sprayer
AC_Sprayer sprayer(&inertial_nav); AC_Sprayer sprayer(&inertial_nav);
@ -70,8 +74,6 @@ void setup()
void loop() void loop()
{ {
uint16_t i;
// repeated call sprayer at different velocities // repeated call sprayer at different velocities
sprayer.update(); sprayer.update();
} }