mirror of https://github.com/ArduPilot/ardupilot
HIL: changes to fix HIL for ArduCopter after recent timing changes.
Changes include using AP_PeriodicProcess and calling imu.init even in HIL mode
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@ -274,7 +274,6 @@ AP_AHRS_MPU6000 ahrs(&imu, g_gps, &ins); // only works with APM2
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AP_AHRS_DCM ahrs(&imu, g_gps);
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AP_AHRS_DCM ahrs(&imu, g_gps);
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#endif
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#endif
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AP_TimerProcess timer_scheduler;
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#elif HIL_MODE == HIL_MODE_SENSORS
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#elif HIL_MODE == HIL_MODE_SENSORS
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// sensor emulators
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// sensor emulators
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AP_ADC_HIL adc;
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AP_ADC_HIL adc;
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@ -283,20 +282,18 @@ AP_Compass_HIL compass;
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AP_GPS_HIL g_gps_driver(NULL);
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AP_GPS_HIL g_gps_driver(NULL);
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AP_IMU_Shim imu;
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AP_IMU_Shim imu;
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AP_AHRS_DCM ahrs(&imu, g_gps);
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AP_AHRS_DCM ahrs(&imu, g_gps);
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AP_PeriodicProcessStub timer_scheduler;
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AP_InertialSensor_Stub ins;
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AP_InertialSensor_Stub ins;
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static int32_t gps_base_alt;
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static int32_t gps_base_alt;
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#elif HIL_MODE == HIL_MODE_ATTITUDE
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#elif HIL_MODE == HIL_MODE_ATTITUDE
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AP_ADC_HIL adc;
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AP_ADC_HIL adc;
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AP_IMU_Shim imu; // never used
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AP_IMU_Shim imu;
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AP_AHRS_HIL ahrs(&imu, g_gps);
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AP_AHRS_HIL ahrs(&imu, g_gps);
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AP_GPS_HIL g_gps_driver(NULL);
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AP_GPS_HIL g_gps_driver(NULL);
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AP_Compass_HIL compass; // never used
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AP_Compass_HIL compass; // never used
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AP_Baro_BMP085_HIL barometer;
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AP_Baro_BMP085_HIL barometer;
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AP_InertialSensor_Stub ins;
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AP_InertialSensor_Stub ins;
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AP_PeriodicProcessStub timer_scheduler;
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#ifdef OPTFLOW_ENABLED
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#ifdef OPTFLOW_ENABLED
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AP_OpticalFlow_ADNS3080 optflow(OPTFLOW_CS_PIN);
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AP_OpticalFlow_ADNS3080 optflow(OPTFLOW_CS_PIN);
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#endif
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#endif
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@ -309,7 +306,8 @@ static int32_t gps_base_alt;
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#error Unrecognised HIL_MODE setting.
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#error Unrecognised HIL_MODE setting.
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#endif // HIL MODE
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#endif // HIL MODE
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// we always have a timer scheduler
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AP_TimerProcess timer_scheduler;
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////////////////////////////////////////////////////////////////////////////////
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////////////////////////////////////////////////////////////////////////////////
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// GCS selection
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// GCS selection
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@ -381,13 +381,11 @@ static void startup_ground(void)
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{
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{
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gcs_send_text_P(SEVERITY_LOW,PSTR("GROUND START"));
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gcs_send_text_P(SEVERITY_LOW,PSTR("GROUND START"));
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#if HIL_MODE != HIL_MODE_ATTITUDE
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// Warm up and read Gyro offsets
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// Warm up and read Gyro offsets
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// -----------------------------
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// -----------------------------
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imu.init(IMU::COLD_START, mavlink_delay, flash_leds, &timer_scheduler);
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imu.init(IMU::COLD_START, mavlink_delay, flash_leds, &timer_scheduler);
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#if CLI_ENABLED == ENABLED
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#if CLI_ENABLED == ENABLED
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report_imu();
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report_imu();
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#endif
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#endif
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#endif
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// initialise ahrs (may push imu calibration into the mpu6000 if using that device).
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// initialise ahrs (may push imu calibration into the mpu6000 if using that device).
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@ -26,7 +26,9 @@ public:
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void (*callback)(unsigned long t) = delay,
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void (*callback)(unsigned long t) = delay,
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void (*flash_leds_cb)(bool on) = NULL,
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void (*flash_leds_cb)(bool on) = NULL,
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AP_PeriodicProcess * scheduler = NULL) {
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AP_PeriodicProcess * scheduler = NULL) {
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if( scheduler != NULL ) {
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scheduler->register_process( AP_IMU_Shim::read );
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scheduler->register_process( AP_IMU_Shim::read );
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}
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};
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};
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virtual void init_accel(void (*callback)(unsigned long t) = delay,
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virtual void init_accel(void (*callback)(unsigned long t) = delay,
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void (*flash_leds_cb)(bool on) = NULL) {
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void (*flash_leds_cb)(bool on) = NULL) {
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