mirror of https://github.com/ArduPilot/ardupilot
40 lines
692 B
C++
40 lines
692 B
C++
//
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// Simple test for the AP_AHRS interface
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//
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#include <AP_ADC/AP_ADC.h>
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#include <AP_AHRS/AP_AHRS.h>
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#include <AP_HAL/AP_HAL.h>
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#include <AP_Module/AP_Module.h>
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void setup();
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void loop();
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const AP_HAL::HAL& hal = AP_HAL::get_HAL();
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// sensor declaration
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static AP_InertialSensor ins = AP_InertialSensor::create();
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static AP_GPS gps = AP_GPS::create();
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static AP_Baro baro = AP_Baro::create();
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AP_SerialManager serial_manager;
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// choose which AHRS system to use
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AP_AHRS_DCM ahrs(ins, baro, gps);
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void setup(void)
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{
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serial_manager.init();
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ins.init(100);
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baro.init();
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ahrs.init();
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gps.init(serial_manager);
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}
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void loop(void)
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{
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ahrs.update();
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}
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AP_HAL_MAIN();
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