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AC_PosControl: fixed example sketch

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Randy Mackay 2014-01-22 11:41:33 +09:00 committed by Andrew Tridgell
parent 9843e93308
commit b9ae3ce2ff
1 changed files with 13 additions and 3 deletions
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16
libraries/AC_AttitudeControl/examples/AC_AttitudeControl_test/AC_AttitudeControl_test.pde
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@ -33,9 +33,13 @@
#include <RC_Channel.h> // RC Channel Library
#include <AP_Motors.h>
#include <AC_AttitudeControl.h>
#include <AC_PosControl.h>
const AP_HAL::HAL& hal = AP_HAL_BOARD_DRIVER;
// key aircraft parameters passed to multiple libraries
static AP_Vehicle::MultiCopter aparm;
// INS and Baro declaration
#if CONFIG_HAL_BOARD == HAL_BOARD_APM2
@ -55,14 +59,17 @@ AP_GPS_Auto auto_gps(&gps);
GPS_Glitch gps_glitch(gps);
AP_Compass_HMC5843 compass;
AP_AHRS_DCM ahrs(&ins, gps);
AP_AHRS_DCM ahrs(ins, gps);
// Inertial Nav declaration
AP_InertialNav inertial_nav(&ahrs, &ins, &baro, gps, gps_glitch);
AP_InertialNav inertial_nav(&ahrs, &baro, gps, gps_glitch);
// fake PIDs
APM_PI pi_angle_roll, pi_angle_pitch, pi_angle_yaw;
AC_PID pid_rate_roll, pid_rate_pitch, pid_rate_yaw;
APM_PI pi_alt_pos, pi_pos_lat, pi_pos_lon;
AC_PID pid_alt_rate, pid_alt_accel;
AC_PID pid_rate_lat, pid_rate_lon;
// fake RC inputs
RC_Channel rc_roll(CH_1), rc_pitch(CH_2), rc_yaw(CH_4), rc_throttle(CH_3);
@ -72,7 +79,10 @@ AP_MotorsQuad motors(&rc_roll, &rc_pitch, &rc_throttle, &rc_yaw);
int16_t motor_roll, motor_pitch, motor_yaw, motor_throttle;
// Attitude Control
AC_AttitudeControl ac_control(ahrs, ins, motors, pi_angle_roll, pi_angle_pitch, pi_angle_yaw, pid_rate_roll, pid_rate_pitch, pid_rate_yaw, motor_roll, motor_pitch, motor_yaw, motor_throttle);
AC_AttitudeControl ac_control(ahrs, ins, aparm, motors, pi_angle_roll, pi_angle_pitch, pi_angle_yaw, pid_rate_roll, pid_rate_pitch, pid_rate_yaw, motor_roll, motor_pitch, motor_yaw, motor_throttle);
/// Position Control
AC_PosControl pos_control(ahrs, inertial_nav, motors, ac_control, pi_alt_pos, pid_alt_rate, pid_alt_accel, pi_pos_lat, pi_pos_lon, pid_rate_lat, pid_rate_lon);
void setup()
{