mirror of https://github.com/ArduPilot/ardupilot
Formatting, swicth Omega to raw IMU rates
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@ -246,14 +246,11 @@ GCS_MAVLINK gcs3(Parameters::k_param_streamrates_port3);
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//
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ModeFilter sonar_mode_filter;
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#if CONFIG_SONAR == ENABLED
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#if CONFIG_SONAR_SOURCE == SONAR_SOURCE_ADC
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AP_AnalogSource_ADC sonar_analog_source( &adc,
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CONFIG_SONAR_SOURCE_ADC_CHANNEL, 0.25);
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AP_AnalogSource_ADC sonar_analog_source( &adc, CONFIG_SONAR_SOURCE_ADC_CHANNEL, 0.25);
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#elif CONFIG_SONAR_SOURCE == SONAR_SOURCE_ANALOG_PIN
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AP_AnalogSource_Arduino sonar_analog_source(CONFIG_SONAR_SOURCE_ANALOG_PIN);
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#endif
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#if SONAR_TYPE == MAX_SONAR_XL
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AP_RangeFinder_MaxsonarXL sonar(&sonar_analog_source, &sonar_mode_filter);
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#else
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@ -748,7 +745,7 @@ static void medium_loop()
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//-------------------------------------------------
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case 3:
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medium_loopCounter++;
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// test
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// perform next command
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// --------------------
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if(control_mode == AUTO){
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@ -1270,7 +1267,7 @@ static void read_AHRS(void)
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#endif
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dcm.update_DCM_fast();
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omega = dcm.get_gyro();
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omega = imu.get_gyro();
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}
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static void update_trig(void){
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