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AP_InertialNav: fixed example build

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This commit is contained in:
Andrew Tridgell 2014-03-31 19:11:20 +11:00
parent 35c111a63a
commit bc0c9ad6d5
1 changed files with 4 additions and 6 deletions
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10
libraries/AP_InertialNav/examples/AP_InertialNav_test/AP_InertialNav_test.pde
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@ -43,14 +43,13 @@ AP_InertialSensor_Oilpan ins(&adc);
AP_Baro_BMP085 baro;
#endif
GPS *gps;
AP_GPS_Auto auto_gps(&gps);
AP_GPS gps;
GPS_Glitch gps_glitch(gps);
AP_Compass_HMC5843 compass;
AP_AHRS_DCM ahrs(ins, baro, gps);
AP_InertialNav inertialnav(ahrs, baro, gps, gps_glitch);
AP_InertialNav inertialnav(ahrs, baro, gps_glitch);
uint32_t last_update;
@ -58,8 +57,7 @@ void setup(void)
{
hal.console->println_P(PSTR("AP_InertialNav test startup..."));
gps = &auto_gps;
gps->init(hal.uartB, GPS::GPS_ENGINE_AIRBORNE_2G, NULL);
gps.init(NULL);
ins.init(AP_InertialSensor::COLD_START,
AP_InertialSensor::RATE_100HZ);
@ -76,7 +74,7 @@ void setup(void)
void loop(void)
{
hal.scheduler->delay(20);
gps->update();
gps.update();
ahrs.update();
uint32_t currtime = hal.scheduler->millis();
float dt = (currtime - last_update) / 1000.0f;