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SITL: make SITL not depend on DCM

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This commit is contained in:
Andrew Tridgell 2012-03-03 15:49:57 +11:00
parent 74eef7018a
commit a791224d07
1 changed files with 0 additions and 26 deletions
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26
libraries/Desktop/support/sitl_adc.cpp
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@ -10,7 +10,6 @@
#include <stdlib.h>
#include <sys/types.h>
#include <math.h>
#include <AP_DCM.h>
#include <AP_ADC.h>
#include "wiring.h"
#include "sitl_adc.h"
@ -100,31 +99,6 @@ void sitl_update_adc(float roll, float pitch, float yaw, // Relative to earth
/* FIX: rubbish value for temperature for now */
UDR2.set(3, 2000);
#if 0
extern AP_DCM_HIL dcm;
dcm.setHil(ToRad(roll), ToRad(pitch), ToRad(yaw),
ToRad(rollRate), ToRad(pitchRate), ToRad(yawRate));
#endif
static uint32_t last_report;
uint32_t tnow = millis();
extern AP_DCM dcm;
Vector3f omega = dcm.get_gyro();
// report roll/pitch discrepancies
if (tnow - last_report > 5000 ||
(tnow - last_report > 1000 &&
(fabs(roll - dcm.roll_sensor/100.0) > 5.0 ||
fabs(pitch - dcm.pitch_sensor/100.0) > 5.0))) {
last_report = tnow;
/*printf("roll=%5.1f / %5.1f pitch=%5.1f / %5.1f rr=%5.2f / %5.2f pr=%5.2f / %5.2f\n",
roll, dcm.roll_sensor/100.0,
pitch, dcm.pitch_sensor/100.0,
rollRate, ToDeg(omega.x),
pitchRate, ToDeg(omega.y));
*/
}
}