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AntennaTracker: convert to new AP_InertialSensor API

This commit is contained in:
Andrew Tridgell 2014-10-16 10:33:36 +11:00
parent 4c0351a76a
commit a4d2b044f0
2 changed files with 3 additions and 24 deletions
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26
AntennaTracker/AntennaTracker.pde
View File

@ -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();

1
AntennaTracker/config.h
View File

@ -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