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AP: fix ap hil.

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This commit is contained in:
Michael Oborne 2012-11-26 18:53:51 +08:00
parent b82c454418
commit ed61ef61ed
2 changed files with 15 additions and 1 deletions
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7
libraries/AP_ADC/AP_ADC_HIL.cpp
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@ -23,6 +23,8 @@ const float AP_ADC_HIL::accelBias[3] = {2025,2025,2025};
// gyroScale = 1/[GyroGain*pi/180] GyroGains (0.4,0.41,0.41)
const float AP_ADC_HIL::gyroScale[3] = {143.239, 139.746, 139.746};
const float AP_ADC_HIL::accelScale[3] = {418,418,418}; // adcPerG
uint16_t AP_ADC_HIL::_count; // number of samples captured
AP_ADC_HIL::AP_ADC_HIL()
{
@ -45,6 +47,7 @@ AP_ADC_HIL::AP_ADC_HIL()
void AP_ADC_HIL::Init( AP_PeriodicProcess * scheduler )
{
scheduler->register_process( AP_ADC_HIL::read );
}
// Read one channel value
@ -56,6 +59,8 @@ float AP_ADC_HIL::Ch(unsigned char ch_num)
// Read 6 channel values
uint32_t AP_ADC_HIL::Ch6(const uint8_t *channel_numbers, float *result)
{
_count = 0;
for (uint8_t i=0; i<6; i++) {
result[i] = Ch(channel_numbers[i]);
}
@ -92,5 +97,5 @@ bool AP_ADC_HIL::new_data_available(const uint8_t *channel_numbers)
// Get minimum number of samples read from the sensors
uint16_t AP_ADC_HIL::num_samples_available(const uint8_t *channel_numbers)
{
return 1;
return _count;
}

9
libraries/AP_ADC/AP_ADC_HIL.h
View File

@ -14,6 +14,8 @@
#include <inttypes.h>
#include "AP_ADC.h"
#include <FastSerial.h>
///
// A hardware in the loop model of the ADS7844 analog to digital converter
@ -99,6 +101,13 @@ private:
// TODO: implement
void setGyroTemp(int16_t val) {
}
// read function that pretends to capture new data
static void read(uint32_t tnow) {
_count++;
}
static uint16_t _count; // number of samples captured
};
#endif