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AP_OpticalFlow: Update test declaration 

Declare a dummy vehicle to get a dummy ahrs. No problem since this code
is not used apart from compilation. Needed to declare an optical flow.
This commit is contained in:
Julien BERAUD 2015-12-08 11:38:43 +01:00 committed by Andrew Tridgell
parent c28a71ec63
commit a32738fd5f
2 changed files with 28 additions and 1 deletions
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25
libraries/AP_OpticalFlow/examples/AP_OpticalFlow_test/AP_OpticalFlow_test.cpp
View File

@ -3,12 +3,35 @@
* Code by Randy Mackay. DIYDrones.com
*/
#include <AP_AHRS/AP_AHRS.h>
#include <AP_Baro/AP_Baro.h>
#include <AP_Compass/AP_Compass.h>
#include <AP_GPS/AP_GPS.h>
#include <AP_HAL/AP_HAL.h>
#include <AP_InertialSensor/AP_InertialSensor.h>
#include <AP_NavEKF2/AP_NavEKF2.h>
#include <AP_NavEKF/AP_NavEKF.h>
#include <AP_OpticalFlow/AP_OpticalFlow.h>
#include <AP_RangeFinder/AP_RangeFinder.h>
const AP_HAL::HAL& hal = AP_HAL::get_HAL();
static OpticalFlow optflow;
class DummyVehicle {
public:
AP_GPS gps;
AP_Baro barometer;
Compass compass;
AP_InertialSensor ins;
AP_SerialManager serial_manager;
RangeFinder sonar {serial_manager};
AP_AHRS_NavEKF ahrs{ins, barometer, gps, sonar, EKF, EKF2,
AP_AHRS_NavEKF::FLAG_ALWAYS_USE_EKF};
NavEKF EKF{&ahrs, barometer, sonar};
NavEKF2 EKF2{&ahrs, barometer, sonar};
};
static DummyVehicle vehicle;
static OpticalFlow optflow(vehicle.ahrs);
void setup()
{

4
libraries/AP_OpticalFlow/examples/AP_OpticalFlow_test/make.inc
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@ -21,3 +21,7 @@ LIBRARIES += DataFlash
LIBRARIES += Filter
LIBRARIES += GCS_MAVLink
LIBRARIES += StorageManager
LIBRARIES += AP_NavEKF
LIBRARIES += AP_NavEKF2
LIBRARIES += AP_RangeFinder
LIBRARIES += AP_SerialManager