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Formatting, swicth Omega to raw IMU rates

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This commit is contained in:
Jason Short 2011-12-03 15:29:23 -08:00
parent 401c985572
commit c99da66506
1 changed files with 39 additions and 42 deletions
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9
ArduCopter/ArduCopter.pde
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@ -246,14 +246,11 @@ GCS_MAVLINK gcs3(Parameters::k_param_streamrates_port3);
// //
ModeFilter sonar_mode_filter; ModeFilter sonar_mode_filter;
#if CONFIG_SONAR == ENABLED #if CONFIG_SONAR == ENABLED
#if CONFIG_SONAR_SOURCE == SONAR_SOURCE_ADC #if CONFIG_SONAR_SOURCE == SONAR_SOURCE_ADC
AP_AnalogSource_ADC sonar_analog_source( &adc, AP_AnalogSource_ADC sonar_analog_source( &adc, CONFIG_SONAR_SOURCE_ADC_CHANNEL, 0.25);
CONFIG_SONAR_SOURCE_ADC_CHANNEL, 0.25);
#elif CONFIG_SONAR_SOURCE == SONAR_SOURCE_ANALOG_PIN #elif CONFIG_SONAR_SOURCE == SONAR_SOURCE_ANALOG_PIN
AP_AnalogSource_Arduino sonar_analog_source(CONFIG_SONAR_SOURCE_ANALOG_PIN); AP_AnalogSource_Arduino sonar_analog_source(CONFIG_SONAR_SOURCE_ANALOG_PIN);
#endif #endif
#if SONAR_TYPE == MAX_SONAR_XL #if SONAR_TYPE == MAX_SONAR_XL
AP_RangeFinder_MaxsonarXL sonar(&sonar_analog_source, &sonar_mode_filter); AP_RangeFinder_MaxsonarXL sonar(&sonar_analog_source, &sonar_mode_filter);
#else #else
@ -748,7 +745,7 @@ static void medium_loop()
//------------------------------------------------- //-------------------------------------------------
case 3: case 3:
medium_loopCounter++; medium_loopCounter++;
// test
// perform next command // perform next command
// -------------------- // --------------------
if(control_mode == AUTO){ if(control_mode == AUTO){
@ -1270,7 +1267,7 @@ static void read_AHRS(void)
#endif #endif
dcm.update_DCM_fast(); dcm.update_DCM_fast();
omega = dcm.get_gyro(); omega = imu.get_gyro();
} }
static void update_trig(void){ static void update_trig(void){