mirror of
https://github.com/ArduPilot/ardupilot
synced 2025-01-03 06:28:27 -04:00
bd00beaf99
this allows for external modules to be called at defined hook locations in ArduPilot. The initial example is a module that consumes the AHRS state, but this can be generalised to a wide variety of hooks
39 lines
658 B
C++
39 lines
658 B
C++
// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
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//
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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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const AP_HAL::HAL& hal = AP_HAL::get_HAL();
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// sensor declaration
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AP_InertialSensor ins;
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AP_GPS gps;
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AP_Baro baro;
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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(NULL, 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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