Mirror/ardupilot
5
0
Fork 0
mirror of https://github.com/ArduPilot/ardupilot synced 2025-01-30 20:48:33 -04:00
Code Issues Packages Projects Releases Wiki Activity

Rover: removed remaining warnings from PX4 build

Browse Source
This commit is contained in:
Andrew Tridgell 2015-05-13 13:45:36 +10:00
parent d8ba16f9cf
commit 3a28811909
5 changed files with 8 additions and 15 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

3
APMrover2/APMrover2.cpp
View File

@ -490,6 +490,9 @@ void Rover::update_navigation()
}
}
void setup(void);
void loop(void);
void setup(void)
{
rover.setup();

4
APMrover2/GCS_Mavlink.cpp
View File

@ -888,9 +888,9 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
} else if (is_equal(packet.param5,2.0f)) {
// accel trim
float trim_roll, trim_pitch;
if(ins.calibrate_trim(trim_roll, trim_pitch)) {
if(rover.ins.calibrate_trim(trim_roll, trim_pitch)) {
// reset ahrs's trim to suggested values from calibration routine
ahrs.set_trim(Vector3f(trim_roll, trim_pitch, 0));
rover.ahrs.set_trim(Vector3f(trim_roll, trim_pitch, 0));
result = MAV_RESULT_ACCEPTED;
} else {
result = MAV_RESULT_FAILED;

7
APMrover2/Rover.cpp
View File

@ -25,10 +25,10 @@ Rover::Rover(void) :
channel_steer(NULL),
channel_throttle(NULL),
channel_learn(NULL),
in_log_download(false),
#if defined(HAL_BOARD_LOG_DIRECTORY)
DataFlash(HAL_BOARD_LOG_DIRECTORY),
#endif
in_log_download(false),
modes(&g.mode1),
#if AP_AHRS_NAVEKF_AVAILABLE
ahrs(ins, barometer, gps, sonar),
@ -42,8 +42,8 @@ Rover::Rover(void) :
AP_HAL_MEMBERPROC(&Rover::start_command),
AP_HAL_MEMBERPROC(&Rover::verify_command),
AP_HAL_MEMBERPROC(&Rover::exit_mission)),
ServoRelayEvents(relay),
num_gcs(MAVLINK_COMM_NUM_BUFFERS),
ServoRelayEvents(relay),
#if CAMERA == ENABLED
camera(&relay),
#endif
@ -57,7 +57,6 @@ Rover::Rover(void) :
frsky_telemetry(ahrs, battery),
#endif
home(ahrs.get_home()),
G_Dt(0.02),
radius_of_earth(6378100)
G_Dt(0.02)
{
}

4
APMrover2/Rover.h
View File

@ -249,9 +249,6 @@ private:
// before recording our home position (and executing a ground start if we booted with an air start)
uint8_t ground_start_count;
// Location & Navigation
const float radius_of_earth; // meters
// true if we have a position estimate from AHRS
bool have_position;
@ -452,7 +449,6 @@ private:
void read_trim_switch();
void update_events(void);
void navigate();
void reached_waypoint();
void set_control_channels(void);
void init_rc_in();
void init_rc_out();

5
APMrover2/navigation.cpp
View File

@ -32,8 +32,3 @@ void Rover::navigate()
}
void reached_waypoint()
{
}