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Copter: convert to new AP_InertialSensor API

This commit is contained in:
Andrew Tridgell 2014-10-16 10:33:24 +11:00
parent 240e87dc2c
commit 4c0351a76a
3 changed files with 8 additions and 28 deletions
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28
ArduCopter/ArduCopter.pde
View File

@ -287,29 +287,11 @@ static AP_Compass_HIL compass;
#error Unrecognized CONFIG_COMPASS setting
#endif
#if CONFIG_INS_TYPE == HAL_INS_OILPAN || CONFIG_HAL_BOARD == HAL_BOARD_APM1
#if CONFIG_HAL_BOARD == HAL_BOARD_APM1
AP_ADC_ADS7844 apm1_adc;
#endif
#if CONFIG_INS_TYPE == HAL_INS_MPU6000
AP_InertialSensor_MPU6000 ins;
#elif CONFIG_INS_TYPE == HAL_INS_PX4
AP_InertialSensor_PX4 ins;
#elif CONFIG_INS_TYPE == HAL_INS_VRBRAIN
AP_InertialSensor_VRBRAIN ins;
#elif CONFIG_INS_TYPE == HAL_INS_HIL
AP_InertialSensor_HIL ins;
#elif CONFIG_INS_TYPE == HAL_INS_OILPAN
AP_InertialSensor_Oilpan ins( &apm1_adc );
#elif CONFIG_INS_TYPE == HAL_INS_FLYMAPLE
AP_InertialSensor_Flymaple ins;
#elif CONFIG_INS_TYPE == HAL_INS_L3G4200D
AP_InertialSensor_L3G4200D ins;
#elif CONFIG_INS_TYPE == HAL_INS_MPU9250
AP_InertialSensor_MPU9250 ins;
#else
#error Unrecognised CONFIG_INS_TYPE setting.
#endif // CONFIG_INS_TYPE
AP_InertialSensor ins;
// Inertial Navigation EKF
#if AP_AHRS_NAVEKF_AVAILABLE
@ -969,10 +951,8 @@ static void perf_update(void)
void loop()
{
// wait for an INS sample
if (!ins.wait_for_sample(1000)) {
Log_Write_Error(ERROR_SUBSYSTEM_MAIN, ERROR_CODE_MAIN_INS_DELAY);
return;
}
ins.wait_for_sample();
uint32_t timer = micros();
// check loop time

5
ArduCopter/config.h
View File

@ -55,7 +55,6 @@
//////////////////////////////////////////////////////////////////////////////
// sensor types
#define CONFIG_INS_TYPE HAL_INS_DEFAULT
#define CONFIG_BARO HAL_BARO_DEFAULT
#define CONFIG_COMPASS HAL_COMPASS_DEFAULT
@ -73,8 +72,6 @@
#if HIL_MODE != HIL_MODE_DISABLED // we are in HIL mode
#undef CONFIG_BARO
#define CONFIG_BARO HAL_BARO_HIL
#undef CONFIG_INS_TYPE
#define CONFIG_INS_TYPE HAL_INS_HIL
#undef CONFIG_COMPASS
#define CONFIG_COMPASS HAL_COMPASS_HIL
#endif
@ -162,7 +159,7 @@
// ADC Enable - used to eliminate for systems which don't have ADC.
//
#ifndef CONFIG_ADC
# if CONFIG_INS_TYPE == HAL_INS_OILPAN || CONFIG_HAL_BOARD == HAL_BOARD_APM1
# if CONFIG_HAL_BOARD == HAL_BOARD_APM1
# define CONFIG_ADC ENABLED
# else
# define CONFIG_ADC DISABLED

3
ArduCopter/system.pde
View File

@ -249,6 +249,9 @@ static void init_ardupilot()
gcs_send_text_P(SEVERITY_LOW, PSTR("Waiting for first HIL_STATE message"));
delay(1000);
}
// set INS to HIL mode
ins.set_hil_mode();
#endif
// read Baro pressure at ground