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AHRS: fixup the AHRS test suite for the new framework

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This commit is contained in:
Andrew Tridgell 2012-03-11 19:00:39 +11:00
parent fe63e79416
commit 3b43d3f9b9
1 changed files with 9 additions and 7 deletions
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16
libraries/AP_AHRS/examples/AHRS_Test/AHRS_Test.pde
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@ -1,7 +1,7 @@
// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: t -*- // -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: t -*-
// //
// Simple test for the AP_Quaternion library // Simple test for the AP_AHRS interface
// //
#include <FastSerial.h> #include <FastSerial.h>
@ -13,8 +13,7 @@
#include <AP_ADC.h> #include <AP_ADC.h>
#include <AP_IMU.h> #include <AP_IMU.h>
#include <AP_GPS.h> #include <AP_GPS.h>
#include <AP_Quaternion.h> #include <AP_AHRS.h>
#include <AP_DCM.h>
#include <AP_Math.h> #include <AP_Math.h>
#include <AP_Common.h> #include <AP_Common.h>
#include <AP_Compass.h> #include <AP_Compass.h>
@ -24,7 +23,7 @@
#include <GCS_MAVLink.h> #include <GCS_MAVLink.h>
// uncomment this for a APM2 board // uncomment this for a APM2 board
//#define APM2_HARDWARE #define APM2_HARDWARE
FastSerialPort(Serial, 0); FastSerialPort(Serial, 0);
@ -42,13 +41,15 @@ AP_Compass_HMC5843 compass;
# else # else
AP_ADC_ADS7844 adc; AP_ADC_ADS7844 adc;
AP_InertialSensor_Oilpan ins( &adc ); AP_InertialSensor_Oilpan ins( &adc );
#endif // CONFIG_IMU_TYPE #endif
static GPS *g_gps; static GPS *g_gps;
AP_IMU_INS imu(&ins); AP_IMU_INS imu(&ins);
AP_Quaternion ahrs(&imu, g_gps);
//AP_DCM ahrs(&imu, g_gps); // choose which AHRS system to use
//AP_AHRS_DCM ahrs(&imu, g_gps);
AP_AHRS_Quaternion ahrs(&imu, g_gps);
AP_Baro_BMP085_HIL barometer; AP_Baro_BMP085_HIL barometer;
@ -122,6 +123,7 @@ void loop(void)
if (now - last_compass > 100*1000UL && if (now - last_compass > 100*1000UL &&
compass.read()) { compass.read()) {
compass.calculate(ahrs.get_dcm_matrix());
// read compass at 10Hz // read compass at 10Hz
last_compass = now; last_compass = now;
} }