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AHRS: fixed VARTest for new AHRS framework

This commit is contained in:
Andrew Tridgell 2012-03-11 19:36:25 +11:00
parent 547b4ed55b
commit a42b45b58c
1 changed files with 3 additions and 2 deletions
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5
Tools/VARTest/VARTest.pde
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@ -15,7 +15,7 @@
#include <SPI.h> // Arduino SPI lib #include <SPI.h> // Arduino SPI lib
#include <I2C.h> #include <I2C.h>
#include <DataFlash.h> #include <DataFlash.h>
#include <AP_DCM.h> #include <AP_AHRS.h>
#include <AP_ADC.h> #include <AP_ADC.h>
#include <AP_Baro.h> #include <AP_Baro.h>
#include <Filter.h> #include <Filter.h>
@ -25,6 +25,7 @@
#include <AP_IMU.h> // ArduPilot Mega IMU Library #include <AP_IMU.h> // ArduPilot Mega IMU Library
#include <AP_GPS.h> #include <AP_GPS.h>
#include <AP_Math.h> #include <AP_Math.h>
#include <GCS_MAVLink.h>
#include <config.h> #include <config.h>
#include <Parameters.h> #include <Parameters.h>
@ -43,7 +44,7 @@ AP_GPS_Auto g_gps_driver(&Serial1, &g_gps);
AP_InertialSensor_Oilpan ins( &adc ); AP_InertialSensor_Oilpan ins( &adc );
#endif // CONFIG_IMU_TYPE #endif // CONFIG_IMU_TYPE
AP_IMU_INS imu( &ins ); AP_IMU_INS imu( &ins );
AP_DCM dcm(&imu, g_gps); AP_AHRS_DCM ahrs(&imu, g_gps);
Arduino_Mega_ISR_Registry isr_registry; Arduino_Mega_ISR_Registry isr_registry;
#ifdef DESKTOP_BUILD #ifdef DESKTOP_BUILD