From a4d2b044f0472e96f6f2598b534d792a77bd875d Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <tridge@samba.org>
Date: Thu, 16 Oct 2014 10:33:36 +1100
Subject: [PATCH] AntennaTracker: convert to new AP_InertialSensor API

---
 AntennaTracker/AntennaTracker.pde | 26 +++-----------------------
 AntennaTracker/config.h           |  1 -
 2 files changed, 3 insertions(+), 24 deletions(-)

diff --git a/AntennaTracker/AntennaTracker.pde b/AntennaTracker/AntennaTracker.pde
index 4d085e5a05..efbf714448 100644
--- a/AntennaTracker/AntennaTracker.pde
+++ b/AntennaTracker/AntennaTracker.pde
@@ -144,29 +144,11 @@ static AP_Compass_HIL compass;
  #error Unrecognized CONFIG_COMPASS setting
 #endif
 
-#if CONFIG_INS_TYPE == HAL_INS_OILPAN || CONFIG_HAL_BOARD == HAL_BOARD_APM1
+#if CONFIG_HAL_BOARD == HAL_BOARD_APM1
 AP_ADC_ADS7844 apm1_adc;
 #endif
 
-#if CONFIG_INS_TYPE == HAL_INS_MPU6000
-AP_InertialSensor_MPU6000 ins;
-#elif CONFIG_INS_TYPE == HAL_INS_PX4
-AP_InertialSensor_PX4 ins;
-#elif CONFIG_INS_TYPE == HAL_INS_VRBRAIN
-AP_InertialSensor_VRBRAIN ins;
-#elif CONFIG_INS_TYPE == HAL_INS_HIL
-AP_InertialSensor_HIL ins;
-#elif CONFIG_INS_TYPE == HAL_INS_OILPAN
-AP_InertialSensor_Oilpan ins( &apm1_adc );
-#elif CONFIG_INS_TYPE == HAL_INS_FLYMAPLE
-AP_InertialSensor_Flymaple ins;
-#elif CONFIG_INS_TYPE == HAL_INS_L3G4200D
-AP_InertialSensor_L3G4200D ins;
-#elif CONFIG_INS_TYPE == HAL_INS_MPU9250
-AP_InertialSensor_MPU9250 ins;
-#else
-  #error Unrecognised CONFIG_INS_TYPE setting.
-#endif // CONFIG_INS_TYPE
+AP_InertialSensor ins;
 
 // Inertial Navigation EKF
 #if AP_AHRS_NAVEKF_AVAILABLE
@@ -300,9 +282,7 @@ void setup()
 void loop()
 {
     // wait for an INS sample
-    if (!ins.wait_for_sample(1000)) {
-        return;
-    }
+    ins.wait_for_sample();
 
     // tell the scheduler one tick has passed
     scheduler.tick();
diff --git a/AntennaTracker/config.h b/AntennaTracker/config.h
index 96bb4da334..d1f49e4eb9 100644
--- a/AntennaTracker/config.h
+++ b/AntennaTracker/config.h
@@ -17,7 +17,6 @@
 #define ENABLE ENABLED
 #define DISABLE DISABLED
 
-#define CONFIG_INS_TYPE HAL_INS_DEFAULT
 #define CONFIG_BARO     HAL_BARO_DEFAULT
 #define CONFIG_COMPASS  HAL_COMPASS_DEFAULT