AP_LeadFitler: ported to AP_HAL

libraries/AP_LeadFilter/AP_LeadFilter.cpp

@@ -8,13 +8,6 @@
  *               version 2.1 of the License, or (at your option) any later version.
  *
  */
-
-#if defined(ARDUINO) && ARDUINO >= 100
- #include "Arduino.h"
-#else
- #include "WProgram.h"
-#endif
-
 #include "AP_LeadFilter.h"
 
 // setup the control preferences

libraries/AP_LeadFilter/AP_LeadFilter.h

@@ -1,11 +1,9 @@
 // -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: t -*-
 
-/// @file	RC_Channel.h
-/// @brief	RC_Channel manager, with EEPROM-backed storage of constants.
-
-#ifndef AP_LeadFilter_h
-#define AP_LeadFilter_h
+#ifndef __AP_LEADFILTER_H__
+#define __AP_LEADFILTER_H__
 
+#include <stdint.h>
 #include <AP_LeadFilter.h>
 
 /// @class	AP_LeadFilter
@@ -28,4 +26,4 @@ private:
 
 };
 
-#endif
+#endif // __AP_LEADFILTER_H__

libraries/AP_LeadFilter/examples/AP_LeadFilter/AP_LeadFilter.pde

@@ -5,36 +5,22 @@
  *
  */
 
-#include <FastSerial.h>
-#include <AP_Common.h>          // ArduPilot Mega Common Library
+#include <AP_Common.h>
 #include <AP_Param.h>
-#include <Arduino_Mega_ISR_Registry.h>
-#include <AP_Math.h>        // ArduPilot Mega Vector/Matrix math Library
-#include <AP_LeadFilter.h>      // GPS Lead filter
+#include <AP_Math.h>
+#include <AP_HAL.h>
+#include <AP_HAL_AVR.h>
 
-// set your hardware type here
-#define CONFIG_APM_HARDWARE APM_HARDWARE_APM2
+#include <AP_LeadFilter.h>
 
-Arduino_Mega_ISR_Registry isr_registry;
-
-////////////////////////////////////////////////////////////////////////////////
-// Serial ports
-////////////////////////////////////////////////////////////////////////////////
-//
-// Note that FastSerial port buffers are allocated at ::begin time,
-// so there is not much of a penalty to defining ports that we don't
-// use.
-//
-FastSerialPort0(Serial);        // FTDI/console
+const AP_HAL::HAL& hal = AP_HAL_AVR_APM2;
 
 AP_LeadFilter xLeadFilter;      // GPS lag filter
 
 void setup()
 {
-    Serial.begin(115200);
-    Serial.println("AP_LeadFilter test ver 1.0");
-
-    delay(500);
+    hal.console->println("AP_LeadFilter test ver 1.0");
+    hal.scheduler->delay(500);
 }
 
 void loop()
@@ -48,12 +34,12 @@ void loop()
     velocity = 0;
     xLeadFilter.clear();
 
-    Serial.printf("------------------\n");
-    Serial.printf("start position = 0, lag of 1sec.\n");
+    hal.console->printf("------------------\n");
+    hal.console->printf("start position = 0, lag of 1sec.\n");
     for( i = 0; i < 10; i++ ) {
         // get updated position
         new_position = xLeadFilter.get_position(position, velocity);     // new position with velocity of 1 m/s
-        Serial.printf("start pos: %ld, start vel: %d, end pos: %ld\n", (long int)position, (int)velocity, (long int)new_position);
+        hal.console->printf("start pos: %ld, start vel: %d, end pos: %ld\n", (long int)position, (int)velocity, (long int)new_position);
         position = new_position;
         velocity += 100;
     }
@@ -62,19 +48,17 @@ void loop()
     velocity = 0;
     xLeadFilter.clear();
 
-    Serial.printf("------------------\n");
-    Serial.printf("start position = 0, lag of 200ms\n");
+    hal.console->printf("------------------\n");
+    hal.console->printf("start position = 0, lag of 200ms\n");
     for( i = 0; i < 10; i++ ) {
         // get updated position
         new_position = xLeadFilter.get_position(position, velocity, 0.200);     // new position with velocity of 1 m/s
-        Serial.printf("start pos: %ld, start vel: %d, end pos: %ld\n", (long int)position, (int)velocity, (long int)new_position);
+        hal.console->printf("start pos: %ld, start vel: %d, end pos: %ld\n", (long int)position, (int)velocity, (long int)new_position);
         position = new_position;
         velocity += 100;
     }
 
-    delay(10000);
+    hal.scheduler->delay(10000);
 }
 
-
-
-
+AP_HAL_MAIN();