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Formatting, swicth Omega to raw IMU rates

This commit is contained in:
Jason Short 2011-12-03 15:29:23 -08:00
parent 06341cb1dc
commit 8e0d8a860b
1 changed files with 39 additions and 42 deletions
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81
ArduCopter/ArduCopter.pde
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@ -151,10 +151,10 @@ static AP_Int8 *flight_modes = &g.flight_mode1;
#if HIL_MODE == HIL_MODE_DISABLED #if HIL_MODE == HIL_MODE_DISABLED
// real sensors // real sensors
#if CONFIG_ADC == ENABLED #if CONFIG_ADC == ENABLED
AP_ADC_ADS7844 adc; AP_ADC_ADS7844 adc;
#endif #endif
#ifdef DESKTOP_BUILD #ifdef DESKTOP_BUILD
APM_BMP085_HIL_Class barometer; APM_BMP085_HIL_Class barometer;
@ -164,35 +164,35 @@ static AP_Int8 *flight_modes = &g.flight_mode1;
AP_Compass_HMC5843 compass(Parameters::k_param_compass); AP_Compass_HMC5843 compass(Parameters::k_param_compass);
#endif #endif
#ifdef OPTFLOW_ENABLED #ifdef OPTFLOW_ENABLED
AP_OpticalFlow_ADNS3080 optflow; AP_OpticalFlow_ADNS3080 optflow;
#endif #endif
// real GPS selection // real GPS selection
#if GPS_PROTOCOL == GPS_PROTOCOL_AUTO #if GPS_PROTOCOL == GPS_PROTOCOL_AUTO
AP_GPS_Auto g_gps_driver(&Serial1, &g_gps); AP_GPS_Auto g_gps_driver(&Serial1, &g_gps);
#elif GPS_PROTOCOL == GPS_PROTOCOL_NMEA #elif GPS_PROTOCOL == GPS_PROTOCOL_NMEA
AP_GPS_NMEA g_gps_driver(&Serial1); AP_GPS_NMEA g_gps_driver(&Serial1);
#elif GPS_PROTOCOL == GPS_PROTOCOL_SIRF #elif GPS_PROTOCOL == GPS_PROTOCOL_SIRF
AP_GPS_SIRF g_gps_driver(&Serial1); AP_GPS_SIRF g_gps_driver(&Serial1);
#elif GPS_PROTOCOL == GPS_PROTOCOL_UBLOX #elif GPS_PROTOCOL == GPS_PROTOCOL_UBLOX
AP_GPS_UBLOX g_gps_driver(&Serial1); AP_GPS_UBLOX g_gps_driver(&Serial1);
#elif GPS_PROTOCOL == GPS_PROTOCOL_MTK #elif GPS_PROTOCOL == GPS_PROTOCOL_MTK
AP_GPS_MTK g_gps_driver(&Serial1); AP_GPS_MTK g_gps_driver(&Serial1);
#elif GPS_PROTOCOL == GPS_PROTOCOL_MTK16 #elif GPS_PROTOCOL == GPS_PROTOCOL_MTK16
AP_GPS_MTK16 g_gps_driver(&Serial1); AP_GPS_MTK16 g_gps_driver(&Serial1);
#elif GPS_PROTOCOL == GPS_PROTOCOL_NONE #elif GPS_PROTOCOL == GPS_PROTOCOL_NONE
AP_GPS_None g_gps_driver(NULL); AP_GPS_None g_gps_driver(NULL);
#else #else
#error Unrecognised GPS_PROTOCOL setting. #error Unrecognised GPS_PROTOCOL setting.
#endif // GPS PROTOCOL #endif // GPS PROTOCOL
#if CONFIG_IMU_TYPE == CONFIG_IMU_MPU6000 #if CONFIG_IMU_TYPE == CONFIG_IMU_MPU6000
AP_InertialSensor_MPU6000 ins( CONFIG_MPU6000_CHIP_SELECT_PIN ); AP_InertialSensor_MPU6000 ins( CONFIG_MPU6000_CHIP_SELECT_PIN );
@ -246,19 +246,16 @@ GCS_MAVLINK gcs3(Parameters::k_param_streamrates_port3);
// //
ModeFilter sonar_mode_filter; ModeFilter sonar_mode_filter;
#if CONFIG_SONAR == ENABLED #if CONFIG_SONAR == ENABLED
#if CONFIG_SONAR_SOURCE == SONAR_SOURCE_ADC
#if CONFIG_SONAR_SOURCE == SONAR_SOURCE_ADC AP_AnalogSource_ADC sonar_analog_source( &adc, CONFIG_SONAR_SOURCE_ADC_CHANNEL, 0.25);
AP_AnalogSource_ADC sonar_analog_source( &adc, #elif CONFIG_SONAR_SOURCE == SONAR_SOURCE_ANALOG_PIN
CONFIG_SONAR_SOURCE_ADC_CHANNEL, 0.25); AP_AnalogSource_Arduino sonar_analog_source(CONFIG_SONAR_SOURCE_ANALOG_PIN);
#elif CONFIG_SONAR_SOURCE == SONAR_SOURCE_ANALOG_PIN #endif
AP_AnalogSource_Arduino sonar_analog_source(CONFIG_SONAR_SOURCE_ANALOG_PIN); #if SONAR_TYPE == MAX_SONAR_XL
#endif AP_RangeFinder_MaxsonarXL sonar(&sonar_analog_source, &sonar_mode_filter);
#else
#if SONAR_TYPE == MAX_SONAR_XL #error Unrecognised SONAR_TYPE setting.
AP_RangeFinder_MaxsonarXL sonar(&sonar_analog_source, &sonar_mode_filter); #endif
#else
#error Unrecognised SONAR_TYPE setting.
#endif
#endif #endif
// agmatthews USERHOOKS // agmatthews USERHOOKS
@ -560,7 +557,7 @@ static bool new_radio_frame;
AP_Relay relay; AP_Relay relay;
#if USB_MUX_PIN > 0 #if USB_MUX_PIN > 0
static bool usb_connected; static bool usb_connected;
#endif #endif
@ -748,7 +745,7 @@ static void medium_loop()
//------------------------------------------------- //-------------------------------------------------
case 3: case 3:
medium_loopCounter++; medium_loopCounter++;
// test
// perform next command // perform next command
// -------------------- // --------------------
if(control_mode == AUTO){ if(control_mode == AUTO){
@ -923,9 +920,9 @@ static void slow_loop()
update_motor_leds(); update_motor_leds();
#endif #endif
#if USB_MUX_PIN > 0 #if USB_MUX_PIN > 0
check_usb_mux(); check_usb_mux();
#endif #endif
break; break;
default: default:
@ -1270,7 +1267,7 @@ static void read_AHRS(void)
#endif #endif
dcm.update_DCM_fast(); dcm.update_DCM_fast();
omega = dcm.get_gyro(); omega = imu.get_gyro();
} }
static void update_trig(void){ static void update_trig(void){