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AP_AHRS: fix example sketch

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Randy Mackay 2014-02-14 16:34:22 +09:00 committed by Andrew Tridgell
parent c18b3f6094
commit 5bdc564191
1 changed files with 5 additions and 1 deletions
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6
libraries/AP_AHRS/examples/AHRS_Test/AHRS_Test.pde
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@ -12,6 +12,7 @@
#include <AP_InertialSensor.h>
#include <AP_ADC.h>
#include <AP_ADC_AnalogSource.h>
#include <AP_Baro.h> // ArduPilot Mega Barometer Library
#include <AP_GPS.h>
#include <AP_AHRS.h>
#include <AP_Compass.h>
@ -32,11 +33,14 @@
const AP_HAL::HAL& hal = AP_HAL_BOARD_DRIVER;
// INS and Baro declaration
#if CONFIG_HAL_BOARD == HAL_BOARD_APM2
AP_InertialSensor_MPU6000 ins;
AP_Baro_MS5611 baro(&AP_Baro_MS5611::spi);
#elif CONFIG_HAL_BOARD == HAL_BOARD_APM1
AP_ADC_ADS7844 adc;
AP_InertialSensor_Oilpan ins( &adc );
AP_Baro_BMP085 baro;
#else
AP_InertialSensor_HIL ins;
#endif
@ -48,7 +52,7 @@ GPS *g_gps;
AP_GPS_Auto g_gps_driver(&g_gps);
// choose which AHRS system to use
AP_AHRS_DCM ahrs(ins, g_gps);
AP_AHRS_DCM ahrs(ins, baro, g_gps);
AP_Baro_HIL barometer;