Mirror/ardupilot
5
0
Fork 0
mirror of https://github.com/ArduPilot/ardupilot synced 2025-02-06 16:03:58 -04:00
Code Issues Packages Projects Releases Wiki Activity

AP_InertialNav: fixed example builds

Browse Source
This commit is contained in:
Andrew Tridgell 2015-02-09 13:09:02 +11:00
parent 84cda98bec
commit d5e129457e
2 changed files with 6 additions and 2 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

2
libraries/AP_InertialNav/AP_InertialNav.h
View File

@ -9,7 +9,7 @@
#include <AP_Buffer.h> // FIFO buffer library
#include <AP_GPS_Glitch.h> // GPS Glitch detection library
#include <AP_Baro_Glitch.h> // Baro Glitch detection library
#include <AP_Nav_Common.h> // definitions shared by inertial and ekf nav filters
#include "../AP_NavEKF/AP_Nav_Common.h" // definitions shared by inertial and ekf nav filters
#define AP_INTERTIALNAV_TC_XY 2.5f // default time constant for complementary filter's X & Y axis
#define AP_INTERTIALNAV_TC_Z 5.0f // default time constant for complementary filter's Z axis

6
libraries/AP_InertialNav/examples/AP_InertialNav_test/AP_InertialNav_test.pde
View File

@ -31,12 +31,15 @@
#include <AP_Terrain.h>
#include <AP_Notify.h>
#include <AP_InertialNav.h>
#include <AP_NavEKF.h>
#include <AP_Nav_Common.h>
#include <AP_BattMonitor.h> // battery monitor library
#include <AP_SerialManager.h> // Serial manager library
const AP_HAL::HAL& hal = AP_HAL_BOARD_DRIVER;
AP_InertialSensor ins;
static AP_SerialManager serial_manager;
#if CONFIG_HAL_BOARD == HAL_BOARD_APM1
AP_ADC_ADS7844 adc;
@ -59,7 +62,8 @@ void setup(void)
{
hal.console->println_P(PSTR("AP_InertialNav test startup..."));
gps.init(NULL);
serial_manager.init();
gps.init(NULL, serial_manager);
ins.init(AP_InertialSensor::COLD_START,
AP_InertialSensor::RATE_100HZ);