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Copter: fixes for AP_InertialSensor API changes

This commit is contained in:
Andrew Tridgell 2015-01-08 13:19:40 +11:00 committed by Randy Mackay
parent 94f3c64df9
commit 7b178efd25
1 changed files with 2 additions and 23 deletions
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25
ArduCopter/ArduCopter.pde
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@ -291,25 +291,7 @@ static AP_Compass_HIL compass;
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
@ -963,10 +945,7 @@ 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