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AP_Mission: fixed example sketch

This commit is contained in:
Andrew Tridgell 2014-08-14 10:48:31 +10:00
parent da7f871e34
commit 3357df9529
2 changed files with 10 additions and 25 deletions
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34
libraries/AP_Mission/examples/AP_Mission_test/AP_Mission_test.pde
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@ -10,11 +10,17 @@
#include <AP_Param.h>
#include <AP_HAL.h>
#include <AP_HAL_AVR.h>
#include <AP_HAL_AVR_SITL.h>
#include <AP_HAL_PX4.h>
#include <AP_HAL_Empty.h>
#include <SITL.h>
#include <AP_Rally.h>
#include <GCS_MAVLink.h>
#include <AP_Notify.h>
#include <AP_Vehicle.h>
#include <DataFlash.h>
#include <AP_Mission.h>
#include <AP_NavEKF.h>
#include <StorageManager.h>
#include <AP_Terrain.h>
#include <AP_GPS.h> // ArduPilot GPS library
@ -31,30 +37,10 @@
#include <AP_Buffer.h> // ArduPilot general purpose FIFO buffer
#include <GCS_MAVLink.h>
// storage locations equivalent to ArduCopter
// fence points are stored at the end of the EEPROM
#define MAX_FENCEPOINTS 6
#define FENCE_WP_SIZE sizeof(Vector2l)
#define FENCE_START_BYTE (HAL_STORAGE_SIZE_AVAILABLE-(MAX_FENCEPOINTS*FENCE_WP_SIZE))
// parameters get the first 1536 bytes of EEPROM, mission commands are stored between these params and the fence points
#define MISSION_START_BYTE 0x500
#define MISSION_END_BYTE (FENCE_START_BYTE-1)
const AP_HAL::HAL& hal = AP_HAL_BOARD_DRIVER;
// INS and Baro declaration
#if CONFIG_HAL_BOARD == HAL_BOARD_APM2
AP_InertialSensor_MPU6000 ins;
AP_Baro_MS5611 baro(&AP_Baro_MS5611::spi);
#else
AP_ADC_ADS7844 adc;
AP_InertialSensor_Oilpan ins(&adc);
AP_Baro_BMP085 baro;
#endif
AP_InertialSensor_HIL ins;
AP_Baro_HIL baro;
// GPS declaration
static AP_GPS gps;
@ -117,7 +103,7 @@ void mission_complete(void)
}
// declaration
AP_Mission mission(ahrs, &start_cmd, &verify_cmd, &mission_complete, MISSION_START_BYTE, MISSION_END_BYTE);
AP_Mission mission(ahrs, &start_cmd, &verify_cmd, &mission_complete);
// setup
void setup(void)
@ -127,8 +113,6 @@ void setup(void)
// display basic info about command sizes
hal.console->printf_P(PSTR("Max Num Commands: %d\n"),(int)mission.num_commands_max());
hal.console->printf_P(PSTR("Command size: %d bytes\n"),(int)AP_MISSION_EEPROM_COMMAND_SIZE);
hal.console->printf_P(PSTR("Command start in Eeprom: 0x%x\n"),(int)MISSION_START_BYTE);
hal.console->printf_P(PSTR("Command end in Eeprom: 0x%x\n"),(int)MISSION_END_BYTE);
}
// loop

1
libraries/AP_Mission/examples/AP_Mission_test/Makefile Normal file
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@ -0,0 +1 @@
include ../../../../mk/apm.mk