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Copter: update for AHRS API changes

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Andrew Tridgell 2013-11-04 14:37:46 +11:00
parent ff5f2ceae5
commit 2f6cfd1ff8
1 changed files with 4 additions and 4 deletions
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8
ArduCopter/ArduCopter.pde
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@ -289,7 +289,7 @@ AP_GPS_None g_gps_driver;
#error Unrecognised GPS_PROTOCOL setting. #error Unrecognised GPS_PROTOCOL setting.
#endif // GPS PROTOCOL #endif // GPS PROTOCOL
static AP_AHRS_DCM ahrs(&ins, g_gps); static AP_AHRS_DCM ahrs(ins, g_gps);
#elif HIL_MODE == HIL_MODE_SENSORS #elif HIL_MODE == HIL_MODE_SENSORS
// sensor emulators // sensor emulators
@ -298,7 +298,7 @@ static AP_Baro_HIL barometer;
static AP_Compass_HIL compass; static AP_Compass_HIL compass;
static AP_GPS_HIL g_gps_driver; static AP_GPS_HIL g_gps_driver;
static AP_InertialSensor_HIL ins; static AP_InertialSensor_HIL ins;
static AP_AHRS_DCM ahrs(&ins, g_gps); static AP_AHRS_DCM ahrs(ins, g_gps);
#if CONFIG_HAL_BOARD == HAL_BOARD_AVR_SITL #if CONFIG_HAL_BOARD == HAL_BOARD_AVR_SITL
@ -309,7 +309,7 @@ static SITL sitl;
#elif HIL_MODE == HIL_MODE_ATTITUDE #elif HIL_MODE == HIL_MODE_ATTITUDE
static AP_ADC_HIL adc; static AP_ADC_HIL adc;
static AP_InertialSensor_HIL ins; static AP_InertialSensor_HIL ins;
static AP_AHRS_HIL ahrs(&ins, g_gps); static AP_AHRS_HIL ahrs(ins, g_gps);
static AP_GPS_HIL g_gps_driver; static AP_GPS_HIL g_gps_driver;
static AP_Compass_HIL compass; // never used static AP_Compass_HIL compass; // never used
static AP_Baro_HIL barometer; static AP_Baro_HIL barometer;
@ -1150,7 +1150,7 @@ static void fifty_hz_logging_loop()
} }
if (g.log_bitmask & MASK_LOG_IMU && motors.armed()) { if (g.log_bitmask & MASK_LOG_IMU && motors.armed()) {
DataFlash.Log_Write_IMU(&ins); DataFlash.Log_Write_IMU(ins);
} }
#endif #endif
} }