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ArduCopter - removed limitation on Maxbotix sonar type requiring ADC so it can work with APM2.

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modified default analog pin in test sketch to be AN4 which is consistent with APM2 default
This commit is contained in:
Randy Mackay 2011-12-10 18:33:30 +09:00
parent df1e54ec79
commit fa0723f115
2 changed files with 1 additions and 17 deletions
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16
ArduCopter/config.h
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@ -136,10 +136,6 @@
// Sonar
//
#ifndef SONAR_PORT
# define SONAR_PORT AP_RANGEFINDER_PITOT_TUBE
#endif
#ifndef CONFIG_SONAR_SOURCE
# define CONFIG_SONAR_SOURCE SONAR_SOURCE_ADC
#endif
@ -169,18 +165,6 @@
# define SONAR_TYPE MAX_SONAR_XL
#endif
// It seems that MAX_SONAR_XL depends on an ADC. For systems without an
// ADC, we need to disable the sonar
#if SONAR_TYPE == MAX_SONAR_XL
# if CONFIG_ADC == DISABLED
# if defined(CONFIG_SONAR)
# warning "MAX_SONAR_XL requires a valid ADC. This system does not have an ADC enabled."
# undef CONFIG_SONAR
# endif
# define CONFIG_SONAR DISABLED
# endif
#endif
#ifndef CONFIG_SONAR
# define CONFIG_SONAR ENABLED
#endif

2
libraries/AP_RangeFinder/examples/AP_RangeFinder_test/AP_RangeFinder_test.pde
View File

@ -19,7 +19,7 @@ ModeFilter mode_filter;
// uncomment the appropriate line corresponding to where sonar is connected
AP_AnalogSource_ADC adc_source(&adc, AP_RANGEFINDER_PITOT_TYPE_ADC_CHANNEL, 0.25); // uncomment this line to use Pitot tube
//AP_AnalogSource_Arduino adc_source(A5); // uncomment this line to use A5 analog pin (far back-right pin on the oilpan near the CLI switch
//AP_AnalogSource_Arduino adc_source(A4); // uncomment this line to use A5 analog pin (far back-right pin on the oilpan near the CLI switch
// create the range finder object
//AP_RangeFinder_SharpGP2Y aRF(&adc_source, &mode_filter);