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removed DCM reference from OPT FLOW

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This commit is contained in:
Jason Short 2011-09-16 19:17:50 -07:00
parent 1f52ad27d9
commit 41dada23ea
2 changed files with 4 additions and 10 deletions
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12
ArduCopter/ArduCopter.pde
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@ -168,7 +168,7 @@ static AP_Int8 *flight_modes = &g.flight_mode1;
AP_Compass_HIL compass; // never used
AP_IMU_Shim imu; // never used
#ifdef OPTFLOW_ENABLED
AP_OpticalFlow_ADNS3080 optflow(&dcm);
AP_OpticalFlow_ADNS3080 optflow;
#endif
static int32_t gps_base_alt;
#else
@ -200,16 +200,10 @@ static AP_Int8 *flight_modes = &g.flight_mode1;
AP_DCM dcm(&imu, g_gps);
#ifdef OPTFLOW_ENABLED
AP_OpticalFlow_ADNS3080 optflow(&dcm);
AP_OpticalFlow_ADNS3080 optflow();
#endif
#endif
#if HIL_MODE == HIL_MODE_ATTITUDE
#ifdef OPTFLOW_ENABLED
AP_OpticalFlow_ADNS3080 optflow(&dcm);
#endif
#endif
////////////////////////////////////////////////////////////////////////////////
// GCS selection
////////////////////////////////////////////////////////////////////////////////
@ -621,7 +615,7 @@ static void medium_loop()
#ifdef OPTFLOW_ENABLED
if(g.optflow_enabled){
optflow.read();
optflow.update_position(cos_yaw_x, sin_yaw_y, current_loc.alt); // updates internal lon and lat with estimation based on optical flow
optflow.update_position(dcm.roll, dcm.pitch, cos_yaw_x, sin_yaw_y, current_loc.alt); // updates internal lon and lat with estimation based on optical flow
// write to log
if (g.log_bitmask & MASK_LOG_OPTFLOW){

2
ArduCopter/config.h
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@ -207,7 +207,7 @@
//////////////////////////////////////////////////////////////////////////////
// OPTICAL_FLOW
#if defined( __AVR_ATmega2560__ ) // determines if optical flow code is included
#define OPTFLOW_ENABLED
//#define OPTFLOW_ENABLED
#endif
//#define OPTFLOW_ENABLED