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Copter: changed for AP_AHRS_View on AC_AttitudeControl

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This commit is contained in:
Andrew Tridgell 2017-02-11 22:29:21 +11:00
parent aad412eaef
commit 92fdef5b97
1 changed files with 8 additions and 3 deletions
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11
ArduCopter/system.cpp
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@ -582,11 +582,16 @@ void Copter::allocate_motors(void)
}
AP_Param::load_object_from_eeprom(motors, var_info);
AP_AHRS_View *ahrs_view = ahrs.create_view(ROTATION_NONE);
if (ahrs_view == nullptr) {
AP_HAL::panic("Unable to allocate AP_AHRS_View");
}
#if FRAME_CONFIG != HELI_FRAME
attitude_control = new AC_AttitudeControl_Multi(ahrs, aparm, *motors, MAIN_LOOP_SECONDS);
attitude_control = new AC_AttitudeControl_Multi(*ahrs_view, aparm, *motors, MAIN_LOOP_SECONDS);
var_info = AC_AttitudeControl_Multi::var_info;
#else
attitude_control = new AC_AttitudeControl_Heli(ahrs, aparm, *motors, MAIN_LOOP_SECONDS);
attitude_control = new AC_AttitudeControl_Heli(*ahrs_view, aparm, *motors, MAIN_LOOP_SECONDS);
var_info = AC_AttitudeControl_Heli::var_info;
#endif
if (attitude_control == nullptr) {
@ -594,7 +599,7 @@ void Copter::allocate_motors(void)
}
AP_Param::load_object_from_eeprom(attitude_control, var_info);
pos_control = new AC_PosControl(ahrs, inertial_nav, *motors, *attitude_control,
pos_control = new AC_PosControl(*ahrs_view, inertial_nav, *motors, *attitude_control,
g.p_alt_hold, g.p_vel_z, g.pid_accel_z,
g.p_pos_xy, g.pi_vel_xy);
if (pos_control == nullptr) {