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Copter: make optflow available to AHRS

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This commit is contained in:
Andrew Tridgell 2015-01-03 11:15:46 +11:00
parent 8f571f1225
commit 788bb8ab9f
2 changed files with 4 additions and 0 deletions
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3
ArduCopter/system.pde
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@ -216,6 +216,9 @@ static void init_ardupilot()
if(g.compass_enabled)
init_compass();
// make optflow available to AHRS
ahrs.set_optflow(&optflow);
// initialise attitude and position controllers
attitude_control.set_dt(MAIN_LOOP_SECONDS);
pos_control.set_dt(MAIN_LOOP_SECONDS);

1
ArduCopter/test.pde
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@ -96,6 +96,7 @@ test_compass(uint8_t argc, const Menu::arg *argv)
ahrs.init();
ahrs.set_fly_forward(true);
ahrs.set_compass(&compass);
ahrs.set_optflow(&optflow);
report_compass();
// we need the AHRS initialised for this test