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AHRS: allow AHRS test to build with SITL

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This commit is contained in:
Andrew Tridgell 2012-12-18 21:27:50 +11:00
parent 9e986801c9
commit fc66f5594f
2 changed files with 9 additions and 7 deletions
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13
libraries/AP_AHRS/examples/AHRS_Test/AHRS_Test.pde
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@ -19,24 +19,29 @@
#include <AP_Baro.h>
#include <GCS_MAVLink.h>
#include <Filter.h>
#include <SITL.h>
#include <AP_Buffer.h>
#include <AP_HAL_AVR.h>
#include <AP_HAL_AVR_SITL.h>
#include <AP_HAL_Empty.h>
const AP_HAL::HAL& hal = AP_HAL_BOARD_DRIVER;
#if CONFIG_HAL_BOARD == HAL_BOARD_APM2
const AP_HAL::HAL& hal = AP_HAL_AVR_APM2;
AP_InertialSensor_MPU6000 ins;
#elif CONFIG_HAL_BOARD == HAL_BOARD_APM1
AP_ADC_ADS7844 adc;
AP_InertialSensor_Oilpan ins( &adc );
const AP_HAL::HAL& hal = AP_HAL_AVR_APM1;
#else
AP_InertialSensor_Stub ins;
#endif
AP_Compass_HMC5843 compass;
GPS *g_gps;
AP_GPS_Auto g_gps_driver(hal.uartB, &g_gps);
AP_GPS_Auto g_gps_driver(&g_gps);
// choose which AHRS system to use
AP_AHRS_DCM ahrs(&ins, g_gps);
@ -94,7 +99,7 @@ void setup(void)
}
g_gps = &g_gps_driver;
#if WITH_GPS
g_gps->init();
g_gps->init(hal.uartB);
#endif
}

3
libraries/AP_AHRS/examples/AHRS_Test/Makefile
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@ -1,4 +1 @@
include ../../../AP_Common/Arduino.mk
sitl:
make -f ../../../../libraries/Desktop/Desktop.mk