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Mission: fix example sketch

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This commit is contained in:
Randy Mackay 2014-02-28 15:55:18 +09:00
parent f4d8ccc128
commit cc8554fa2b
1 changed files with 22 additions and 1 deletions
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23
libraries/AP_Mission/examples/AP_Mission_test/AP_Mission_test.pde
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@ -31,6 +31,27 @@
const AP_HAL::HAL& hal = AP_HAL_BOARD_DRIVER;
// INS and Baro declaration
#if CONFIG_HAL_BOARD == HAL_BOARD_APM2
AP_InertialSensor_MPU6000 ins;
AP_Baro_MS5611 baro(&AP_Baro_MS5611::spi);
#else
AP_ADC_ADS7844 adc;
AP_InertialSensor_Oilpan ins(&adc);
AP_Baro_BMP085 baro;
#endif
// GPS declaration
GPS *gps;
AP_GPS_Auto auto_gps(&gps);
GPS_Glitch gps_glitch(gps);
AP_Compass_HMC5843 compass;
AP_AHRS_DCM ahrs(ins, baro, gps);
// global constants that control how many verify calls must be made for a command before it completes
static uint8_t verify_nav_cmd_iterations_to_complete = 3;
static uint8_t verify_do_cmd_iterations_to_complete = 1;
@ -85,7 +106,7 @@ void mission_complete(void)
}
// declaration
AP_Mission mission(&start_cmd, &verify_cmd, &mission_complete);
AP_Mission mission(ahrs, &start_cmd, &verify_cmd, &mission_complete);
// setup
void setup(void)