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HIL: changes to fix HIL for ArduCopter after recent timing changes. 

Changes include using AP_PeriodicProcess and calling imu.init even in HIL mode
This commit is contained in:
rmackay9 2012-09-15 18:42:56 +09:00
parent 94f956a0ca
commit 303ca11c4c
3 changed files with 6 additions and 8 deletions
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8
ArduCopter/ArduCopter.pde
View File

@ -274,7 +274,6 @@ AP_AHRS_MPU6000 ahrs(&imu, g_gps, &ins); // only works with APM2
AP_AHRS_DCM ahrs(&imu, g_gps); AP_AHRS_DCM ahrs(&imu, g_gps);
#endif #endif
AP_TimerProcess timer_scheduler;
#elif HIL_MODE == HIL_MODE_SENSORS #elif HIL_MODE == HIL_MODE_SENSORS
// sensor emulators // sensor emulators
AP_ADC_HIL adc; AP_ADC_HIL adc;
@ -283,20 +282,18 @@ AP_Compass_HIL compass;
AP_GPS_HIL g_gps_driver(NULL); AP_GPS_HIL g_gps_driver(NULL);
AP_IMU_Shim imu; AP_IMU_Shim imu;
AP_AHRS_DCM ahrs(&imu, g_gps); AP_AHRS_DCM ahrs(&imu, g_gps);
AP_PeriodicProcessStub timer_scheduler;
AP_InertialSensor_Stub ins; AP_InertialSensor_Stub ins;
static int32_t gps_base_alt; static int32_t gps_base_alt;
#elif HIL_MODE == HIL_MODE_ATTITUDE #elif HIL_MODE == HIL_MODE_ATTITUDE
AP_ADC_HIL adc; AP_ADC_HIL adc;
AP_IMU_Shim imu; // never used AP_IMU_Shim imu;
AP_AHRS_HIL ahrs(&imu, g_gps); AP_AHRS_HIL ahrs(&imu, g_gps);
AP_GPS_HIL g_gps_driver(NULL); AP_GPS_HIL g_gps_driver(NULL);
AP_Compass_HIL compass; // never used AP_Compass_HIL compass; // never used
AP_Baro_BMP085_HIL barometer; AP_Baro_BMP085_HIL barometer;
AP_InertialSensor_Stub ins; AP_InertialSensor_Stub ins;
AP_PeriodicProcessStub timer_scheduler;
#ifdef OPTFLOW_ENABLED #ifdef OPTFLOW_ENABLED
AP_OpticalFlow_ADNS3080 optflow(OPTFLOW_CS_PIN); AP_OpticalFlow_ADNS3080 optflow(OPTFLOW_CS_PIN);
#endif #endif
@ -309,7 +306,8 @@ static int32_t gps_base_alt;
#error Unrecognised HIL_MODE setting. #error Unrecognised HIL_MODE setting.
#endif // HIL MODE #endif // HIL MODE
// we always have a timer scheduler
AP_TimerProcess timer_scheduler;
//////////////////////////////////////////////////////////////////////////////// ////////////////////////////////////////////////////////////////////////////////
// GCS selection // GCS selection

2
ArduCopter/system.pde
View File

@ -381,14 +381,12 @@ static void startup_ground(void)
{ {
gcs_send_text_P(SEVERITY_LOW,PSTR("GROUND START")); gcs_send_text_P(SEVERITY_LOW,PSTR("GROUND START"));
#if HIL_MODE != HIL_MODE_ATTITUDE
// Warm up and read Gyro offsets // Warm up and read Gyro offsets
// ----------------------------- // -----------------------------
imu.init(IMU::COLD_START, mavlink_delay, flash_leds, &timer_scheduler); imu.init(IMU::COLD_START, mavlink_delay, flash_leds, &timer_scheduler);
#if CLI_ENABLED == ENABLED #if CLI_ENABLED == ENABLED
report_imu(); report_imu();
#endif #endif
#endif
// initialise ahrs (may push imu calibration into the mpu6000 if using that device). // initialise ahrs (may push imu calibration into the mpu6000 if using that device).
ahrs.init(); ahrs.init();

4
libraries/AP_IMU/AP_IMU_Shim.h
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@ -26,7 +26,9 @@ public:
void (*callback)(unsigned long t) = delay, void (*callback)(unsigned long t) = delay,
void (*flash_leds_cb)(bool on) = NULL, void (*flash_leds_cb)(bool on) = NULL,
AP_PeriodicProcess * scheduler = NULL) { AP_PeriodicProcess * scheduler = NULL) {
scheduler->register_process( AP_IMU_Shim::read ); if( scheduler != NULL ) {
scheduler->register_process( AP_IMU_Shim::read );
}
}; };
virtual void init_accel(void (*callback)(unsigned long t) = delay, virtual void init_accel(void (*callback)(unsigned long t) = delay,
void (*flash_leds_cb)(bool on) = NULL) { void (*flash_leds_cb)(bool on) = NULL) {