Mirror
/
ardupilot
mirror of https://github.com/ArduPilot/ardupilot
5
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity

Example cleanup for APO. 

git-svn-id: https://arducopter.googlecode.com/svn/trunk@1938 f9c3cf11-9bcb-44bc-f272-b75c42450872
This commit is contained in:
james.goppert 2011-05-01 03:05:15 +00:00
parent 42c6847054
commit 9a47d7b8e1
2 changed files with 6 additions and 42 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

24
libraries/APO/examples/AutopilotCar/AutopilotCar.pde
View File

@ -167,7 +167,7 @@ void setup() {
* initialize them and NULL will be assigned to those corresponding pointers.
* On detecting NULL assigned to any ultrasonic sensor, its corresponding block of code
* will not be executed by the navigator.
* The coordinate system is assigned by the right hand screw rule with the thumb pointing down.
* The coordinate system is assigned by the right hand rule with the thumb pointing down.
* In set_orientation, it is defind as (front/back,left/right,down,up)
*/
@ -220,28 +220,11 @@ void setup() {
}
/*
* Navigator
* Select guidance, navigation, control algorithms
*/
AP_Navigator * navigator = new DcmNavigator(hal);
/*
* Guide
*/
AP_Guide * guide = new MavlinkGuide(k_guide,navigator,hal);
/*
* Controller Initialization
*/
AP_Controller * controller = NULL;
switch(vehicle)
{
case VEHICLE_CAR:
controller = new CarController(k_cntrl,k_pidStr,k_pidThr,navigator,guide,hal);
break;
case VEHICLE_QUAD:
controller = new QuadController(navigator,guide,hal);
break;
}
AP_Controller * controller = new CarController(k_cntrl,k_pidStr,k_pidThr,navigator,guide,hal);
/*
* CommLinks
@ -254,7 +237,6 @@ void setup() {
*/
hal->debug->printf_P(PSTR("initializing ArduPilotOne\n"));
hal->debug->printf_P(PSTR("free ram: %d bytes\n"),freeMemory());
autoPilot = new apo::AP_Autopilot(navigator,guide,controller,hal);
}

24
libraries/APO/examples/AutopilotQuad/AutopilotQuad.pde
View File

@ -167,7 +167,7 @@ void setup() {
* initialize them and NULL will be assigned to those corresponding pointers.
* On detecting NULL assigned to any ultrasonic sensor, its corresponding block of code
* will not be executed by the navigator.
* The coordinate system is assigned by the right hand screw rule with the thumb pointing down.
* The coordinate system is assigned by the right hand rule with the thumb pointing down.
* In set_orientation, it is defind as (front/back,left/right,down,up)
*/
@ -220,28 +220,11 @@ void setup() {
}
/*
* Navigator
* Select guidance, navigation, control algorithms
*/
AP_Navigator * navigator = new DcmNavigator(hal);
/*
* Guide
*/
AP_Guide * guide = new MavlinkGuide(k_guide,navigator,hal);
/*
* Controller Initialization
*/
AP_Controller * controller = NULL;
switch(vehicle)
{
case VEHICLE_CAR:
controller = new CarController(k_cntrl,k_pidStr,k_pidThr,navigator,guide,hal);
break;
case VEHICLE_QUAD:
controller = new QuadController(navigator,guide,hal);
break;
}
AP_Controller * controller = new QuadController(navigator,guide,hal);
/*
* CommLinks
@ -254,7 +237,6 @@ void setup() {
*/
hal->debug->printf_P(PSTR("initializing ArduPilotOne\n"));
hal->debug->printf_P(PSTR("free ram: %d bytes\n"),freeMemory());
autoPilot = new apo::AP_Autopilot(navigator,guide,controller,hal);
}