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VARTest: converted to new GPS API

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This commit is contained in:
Andrew Tridgell 2014-03-31 18:26:09 +11:00
parent 640b64f5e4
commit bc1ebcadf5
3 changed files with 2 additions and 29 deletions
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5
Tools/VARTest/VARTest.pde
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@ -65,11 +65,10 @@ AP_Param param_loader(var_info, WP_START_BYTE);
static Parameters g;
static GPS *g_gps;
AP_GPS_Auto g_gps_driver(&g_gps);
static AP_GPS gps;
AP_InertialSensor_MPU6000 ins;
AP_Baro_HIL barometer;
AP_AHRS_DCM ahrs(ins, barometer, g_gps);
AP_AHRS_DCM ahrs(ins, barometer, gps);
static AP_Compass_HIL compass;
SITL sitl;

15
Tools/VARTest/config.h
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@ -147,21 +147,6 @@
#define HIL_MODE HIL_MODE_DISABLED
#endif
#if HIL_MODE != HIL_MODE_DISABLED // we are in HIL mode
# undef GPS_PROTOCOL
# define GPS_PROTOCOL GPS_PROTOCOL_NONE
#endif
//////////////////////////////////////////////////////////////////////////////
// GPS_PROTOCOL
//
// Note that this test must follow the HIL_PROTOCOL block as the HIL
// setup may override the GPS configuration.
//
#ifndef GPS_PROTOCOL
# define GPS_PROTOCOL GPS_PROTOCOL_AUTO
#endif
#ifndef MAV_SYSTEM_ID
# define MAV_SYSTEM_ID 1
#endif

11
Tools/VARTest/defines.h
View File

@ -36,17 +36,6 @@
#define T6 1000000
#define T7 10000000
// GPS type codes - use the names, not the numbers
#define GPS_PROTOCOL_NONE -1
#define GPS_PROTOCOL_NMEA 0
#define GPS_PROTOCOL_SIRF 1
#define GPS_PROTOCOL_UBLOX 2
#define GPS_PROTOCOL_IMU 3
#define GPS_PROTOCOL_MTK 4
#define GPS_PROTOCOL_HIL 5
#define GPS_PROTOCOL_MTK19 6
#define GPS_PROTOCOL_AUTO 7
#define CH_ROLL CH_1
#define CH_PITCH CH_2
#define CH_THROTTLE CH_3