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Sub: Switch to AC_AttitudeControl_Sub

This commit is contained in:
Jacob Walser 2017-02-02 22:17:44 -05:00 committed by Andrew Tridgell
parent 5233b25910
commit 565afc23ad
3 changed files with 4 additions and 6 deletions
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4
ArduSub/Parameters.cpp
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@ -713,8 +713,8 @@ const AP_Param::Info Sub::var_info[] = {
#endif
// @Group: ATC_
// @Path: ../libraries/AC_AttitudeControl/AC_AttitudeControl.cpp,../libraries/AC_AttitudeControl/AC_AttitudeControl_Multi.cpp
GOBJECT(attitude_control, "ATC_", AC_AttitudeControl_Multi),
// @Path: ../libraries/AC_AttitudeControl/AC_AttitudeControl.cpp,../libraries/AC_AttitudeControl/AC_AttitudeControl_Sub.cpp
GOBJECT(attitude_control, "ATC_", AC_AttitudeControl_Sub),
// @Group: PSC
// @Path: ../libraries/AC_AttitudeControl/AC_PosControl.cpp

4
ArduSub/Sub.h
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@ -55,7 +55,7 @@
#include <AC_PID/AC_PID.h> // PID library
#include <AC_PID/AC_PI_2D.h> // PID library (2-axis)
#include <AC_PID/AC_P.h> // P library
#include <AC_AttitudeControl/AC_AttitudeControl_Multi.h> // Attitude control library
#include <AC_AttitudeControl/AC_AttitudeControl_Sub.h> // Attitude control library
#include <AC_AttitudeControl/AC_PosControl.h> // Position control library
#include <RC_Channel/RC_Channel.h> // RC Channel Library
#include <AP_Motors/AP_Motors.h> // AP Motors library
@ -403,7 +403,7 @@ private:
// Attitude, Position and Waypoint navigation objects
// To-Do: move inertial nav up or other navigation variables down here
AC_AttitudeControl_Multi attitude_control;
AC_AttitudeControl_Sub attitude_control;
AC_PosControl pos_control;

2
ArduSub/make.inc
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@ -20,10 +20,8 @@ LIBRARIES += AP_Mission
LIBRARIES += AP_Rally
LIBRARIES += AC_PID
LIBRARIES += AC_PI_2D
LIBRARIES += AC_HELI_PID
LIBRARIES += AC_P
LIBRARIES += AC_AttitudeControl
LIBRARIES += AC_AttitudeControl_Heli
LIBRARIES += AC_PosControl
LIBRARIES += RC_Channel
LIBRARIES += AP_Motors