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AC_AttControl: fix example sketch

This commit is contained in:
Randy Mackay 2014-02-14 16:27:56 +09:00 committed by Andrew Tridgell
parent aab9b30bf6
commit c35bd84e21
1 changed files with 11 additions and 11 deletions
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22
libraries/AC_AttitudeControl/examples/AC_AttitudeControl_test/AC_AttitudeControl_test.pde
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@ -23,7 +23,7 @@
#include <AP_AHRS.h> #include <AP_AHRS.h>
#include <AP_Airspeed.h> #include <AP_Airspeed.h>
#include <AC_PID.h> // PID library #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_Buffer.h> // ArduPilot general purpose FIFO buffer
#include <AP_InertialNav.h> // Inertial Navigation library #include <AP_InertialNav.h> // Inertial Navigation library
#include <GCS_MAVLink.h> #include <GCS_MAVLink.h>
@ -59,15 +59,15 @@ AP_GPS_Auto auto_gps(&gps);
GPS_Glitch gps_glitch(gps); GPS_Glitch gps_glitch(gps);
AP_Compass_HMC5843 compass; AP_Compass_HMC5843 compass;
AP_AHRS_DCM ahrs(ins, gps); AP_AHRS_DCM ahrs(ins, baro, gps);
// Inertial Nav declaration // Inertial Nav declaration
AP_InertialNav inertial_nav(&ahrs, &baro, gps, gps_glitch); AP_InertialNav inertial_nav(ahrs, baro, gps, gps_glitch);
// fake PIDs // fake PIDs
APM_PI pi_angle_roll, pi_angle_pitch, pi_angle_yaw; AC_P p_angle_roll, p_angle_pitch, p_angle_yaw;
AC_PID pid_rate_roll, pid_rate_pitch, pid_rate_yaw; AC_PID pid_rate_roll, pid_rate_pitch, pid_rate_yaw;
APM_PI pi_alt_pos, pi_pos_lat, pi_pos_lon; AC_P p_alt_pos, p_pos_xy;
AC_PID pid_alt_rate, pid_alt_accel; AC_PID pid_alt_rate, pid_alt_accel;
AC_PID pid_rate_lat, pid_rate_lon; AC_PID pid_rate_lat, pid_rate_lon;
@ -75,14 +75,14 @@ AC_PID pid_rate_lat, pid_rate_lon;
RC_Channel rc_roll(CH_1), rc_pitch(CH_2), rc_yaw(CH_4), rc_throttle(CH_3); RC_Channel rc_roll(CH_1), rc_pitch(CH_2), rc_yaw(CH_4), rc_throttle(CH_3);
// fake motor and outputs // fake motor and outputs
AP_MotorsQuad motors(&rc_roll, &rc_pitch, &rc_throttle, &rc_yaw); AP_MotorsQuad motors(rc_roll, rc_pitch, rc_throttle, rc_yaw);
int16_t motor_roll, motor_pitch, motor_yaw, motor_throttle; int16_t motor_roll, motor_pitch, motor_yaw, motor_throttle;
// Attitude Control // Attitude Control
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); AC_AttitudeControl ac_control(ahrs, ins, aparm, motors, p_angle_roll, p_angle_pitch, p_angle_yaw, pid_rate_roll, pid_rate_pitch, pid_rate_yaw);
/// Position Control /// 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); AC_PosControl pos_control(ahrs, inertial_nav, motors, ac_control, p_alt_pos, pid_alt_rate, pid_alt_accel, p_pos_xy, pid_rate_lat, pid_rate_lon);
void setup() void setup()
{ {
@ -91,9 +91,9 @@ void setup()
void loop() void loop()
{ {
// call update function // print message to user
hal.console->printf_P(PSTR("hello")); hal.console->printf_P(PSTR("this example tests compilation only"));
hal.scheduler->delay(1); hal.scheduler->delay(5000);
} }
AP_HAL_MAIN(); AP_HAL_MAIN();