// // Simple test for the AP_AHRS interface // #include <AP_AHRS/AP_AHRS.h> #include <AP_HAL/AP_HAL.h> #include <AP_Module/AP_Module.h> #include <AP_GPS/AP_GPS.h> #include <AP_Baro/AP_Baro.h> void setup(); void loop(); const AP_HAL::HAL& hal = AP_HAL::get_HAL(); // sensor declaration static AP_InertialSensor ins; static AP_GPS gps; static AP_Baro baro; static AP_SerialManager serial_manager; // choose which AHRS system to use static AP_AHRS_DCM ahrs{}; void setup(void) { serial_manager.init(); ins.init(100); baro.init(); ahrs.init(); gps.init(serial_manager); } void loop(void) { ahrs.update(); } AP_HAL_MAIN();