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hil-sensors ArduCopter: fixes to make hil-sensors build work properly

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* requires new stub libraries for InertialSensor and PeriodicProcess.
This commit is contained in:
Pat Hickey 2011-11-12 22:44:04 -08:00
parent 48f92c49fa
commit 8300e21a8c
2 changed files with 6 additions and 3 deletions
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7
ArduCopter/ArduCopter.pde
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@ -206,7 +206,10 @@ AP_TimerProcess timer_scheduler;
AP_GPS_HIL g_gps_driver(NULL); AP_GPS_HIL g_gps_driver(NULL);
AP_IMU_Shim imu; AP_IMU_Shim imu;
AP_DCM dcm(&imu, g_gps); AP_DCM dcm(&imu, g_gps);
AP_TimerProcess timer_scheduler; AP_PeriodicProcessStub timer_scheduler;
AP_InertialSensor_Stub ins;
static int32_t gps_base_alt;
#elif HIL_MODE == HIL_MODE_ATTITUDE #elif HIL_MODE == HIL_MODE_ATTITUDE
AP_ADC_HIL adc; AP_ADC_HIL adc;
@ -214,6 +217,8 @@ AP_TimerProcess timer_scheduler;
AP_GPS_HIL g_gps_driver(NULL); AP_GPS_HIL g_gps_driver(NULL);
AP_Compass_HIL compass; // never used AP_Compass_HIL compass; // never used
AP_IMU_Shim imu; // never used AP_IMU_Shim imu; // never used
AP_InertialSensorStub ins;
AP_PeriodicProcessStub timer_scheduler;
#ifdef OPTFLOW_ENABLED #ifdef OPTFLOW_ENABLED
AP_OpticalFlow_ADNS3080 optflow; AP_OpticalFlow_ADNS3080 optflow;
#endif #endif

2
ArduCopter/system.pde
View File

@ -203,9 +203,7 @@ static void init_ardupilot()
init_camera(); init_camera();
#if HIL_MODE != HIL_MODE_ATTITUDE
timer_scheduler.init( &isr_registry ); timer_scheduler.init( &isr_registry );
#endif
#if HIL_MODE != HIL_MODE_ATTITUDE #if HIL_MODE != HIL_MODE_ATTITUDE
#if CONFIG_ADC == ENABLED #if CONFIG_ADC == ENABLED