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AC_WPNav: fix example sketch

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Randy Mackay 2014-02-14 16:28:26 +09:00 committed by Andrew Tridgell
parent 889ee1bfef
commit bf3effcd10
1 changed files with 15 additions and 6 deletions
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21
libraries/AC_WPNav/examples/AC_WPNav_test/AC_WPNav_test.pde
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@ -10,7 +10,9 @@
#include <AP_HAL.h>
#include <AP_HAL_AVR.h>
#include <AP_Notify.h> // Notify library
#include <AP_GPS.h> // ArduPilot GPS library
#include <AP_GPS_Glitch.h> // GPS glitch protection library
#include <AP_ADC.h> // ArduPilot Mega Analog to Digital Converter Library
#include <AP_ADC_AnalogSource.h>
#include <AP_Baro.h> // ArduPilot Mega Barometer Library
@ -19,12 +21,18 @@
#include <AP_Declination.h>
#include <AP_InertialSensor.h> // ArduPilot Mega Inertial Sensor (accel & gyro) Library
#include <AP_AHRS.h>
#include <AP_Vehicle.h> // needed for AHRS build
#include <AP_Airspeed.h>
#include <AC_PID.h> // PID library
#include <APM_PI.h> // PID library
#include <AC_P.h> // P library
#include <AP_Buffer.h> // ArduPilot general purpose FIFO buffer
#include <AP_InertialNav.h> // Inertial Navigation library
#include <AC_WPNav.h> // Waypoint Navigation library
#include <AC_PosControl.h> // Position Control library
#include <AC_AttitudeControl.h> // Attitude Control library
#include <AP_Curve.h> // curve library (used by motors)
#include <RC_Channel.h> // RC Channel library (used by motors)
#include <AP_Motors.h> // Motor library
#include <DataFlash.h>
#include <GCS_MAVLink.h>
@ -46,12 +54,13 @@ AP_Baro_BMP085 baro;
// GPS declaration
GPS *gps;
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, baro, gps);
// Inertial Nav declaration
AP_InertialNav inertialnav(&ahrs, &ins, &baro, &gps);
AP_InertialNav inertialnav(ahrs, baro, gps, gps_glitch);
void setup()
{
@ -60,9 +69,9 @@ void setup()
void loop()
{
// call update function
hal.console->printf_P(PSTR("hello"));
hal.scheduler->delay(1);
// print message to user
hal.console->printf_P(PSTR("this example tests compilation only"));
hal.scheduler->delay(5000);
}
AP_HAL_MAIN();