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Plane: update for new AP_InertialSensor API

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This commit is contained in:
Andrew Tridgell 2014-10-15 15:13:13 +11:00
parent dbcd02f2be
commit 240e87dc2c
4 changed files with 10 additions and 29 deletions
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27
ArduPlane/ArduPlane.pde
View File

@ -219,29 +219,11 @@ static AP_Compass_HIL compass;
#error Unrecognized CONFIG_COMPASS setting
#endif
#if CONFIG_INS_TYPE == HAL_INS_OILPAN || CONFIG_HAL_BOARD == HAL_BOARD_APM1
#if CONFIG_HAL_BOARD == HAL_BOARD_APM1
AP_ADC_ADS7844 apm1_adc;
#endif
#if CONFIG_INS_TYPE == HAL_INS_MPU6000
AP_InertialSensor_MPU6000 ins;
#elif CONFIG_INS_TYPE == HAL_INS_PX4
AP_InertialSensor_PX4 ins;
#elif CONFIG_INS_TYPE == HAL_INS_VRBRAIN
AP_InertialSensor_VRBRAIN ins;
#elif CONFIG_INS_TYPE == HAL_INS_HIL
AP_InertialSensor_HIL ins;
#elif CONFIG_INS_TYPE == HAL_INS_OILPAN
AP_InertialSensor_Oilpan ins( &apm1_adc );
#elif CONFIG_INS_TYPE == HAL_INS_FLYMAPLE
AP_InertialSensor_Flymaple ins;
#elif CONFIG_INS_TYPE == HAL_INS_L3G4200D
AP_InertialSensor_L3G4200D ins;
#elif CONFIG_INS_TYPE == HAL_INS_MPU9250
AP_InertialSensor_MPU9250 ins;
#else
#error Unrecognised CONFIG_INS_TYPE setting.
#endif // CONFIG_INS_TYPE
AP_InertialSensor ins;
// Inertial Navigation EKF
#if AP_AHRS_NAVEKF_AVAILABLE
@ -844,9 +826,8 @@ void setup() {
void loop()
{
// wait for an INS sample
if (!ins.wait_for_sample(1000)) {
return;
}
ins.wait_for_sample();
uint32_t timer = hal.scheduler->micros();
delta_us_fast_loop = timer - fast_loopTimer_us;

3
ArduPlane/config.h
View File

@ -85,7 +85,6 @@
//////////////////////////////////////////////////////////////////////////////
// sensor types
#define CONFIG_INS_TYPE HAL_INS_DEFAULT
#define CONFIG_BARO HAL_BARO_DEFAULT
#define CONFIG_COMPASS HAL_COMPASS_DEFAULT
@ -103,8 +102,6 @@
#if HIL_MODE != HIL_MODE_DISABLED // we are in HIL mode
#undef CONFIG_BARO
#define CONFIG_BARO HAL_BARO_HIL
#undef CONFIG_INS_TYPE
#define CONFIG_INS_TYPE HAL_INS_HIL
#undef CONFIG_COMPASS
#define CONFIG_COMPASS HAL_COMPASS_HIL
#endif

5
ArduPlane/system.pde
View File

@ -150,7 +150,7 @@ static void init_ardupilot()
// more than 5ms remaining in your call to hal.scheduler->delay
hal.scheduler->register_delay_callback(mavlink_delay_cb, 5);
#if CONFIG_INS_TYPE == CONFIG_INS_OILPAN || CONFIG_HAL_BOARD == HAL_BOARD_APM1
#if CONFIG_HAL_BOARD == HAL_BOARD_APM1
apm1_adc.Init(); // APM ADC library initialization
#endif
@ -499,6 +499,9 @@ static void startup_INS_ground(bool do_accel_init)
gcs_send_text_P(SEVERITY_LOW, PSTR("Waiting for first HIL_STATE message"));
delay(1000);
}
// set INS to HIL mode
ins.set_hil_mode();
#endif
AP_InertialSensor::Start_style style;

4
ArduPlane/test.pde
View File

@ -360,7 +360,7 @@ test_shell(uint8_t argc, const Menu::arg *argv)
//-------------------------------------------------------------------------------------------
// tests in this section are for real sensors or sensors that have been simulated
#if CONFIG_INS_TYPE == CONFIG_INS_OILPAN || CONFIG_HAL_BOARD == HAL_BOARD_APM1
#if CONFIG_HAL_BOARD == HAL_BOARD_APM1
static int8_t
test_adc(uint8_t argc, const Menu::arg *argv)
{
@ -379,7 +379,7 @@ test_adc(uint8_t argc, const Menu::arg *argv)
}
}
}
#endif // CONFIG_INS_TYPE
#endif
static int8_t
test_gps(uint8_t argc, const Menu::arg *argv)