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Sub: Add support for AP_AHRS_View

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Jacob Walser 2017-02-20 13:30:35 -05:00 committed by Andrew Tridgell
parent 68a7534f2c
commit 84c3c0d234
2 changed files with 7 additions and 4 deletions
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9
ArduSub/Sub.cpp
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@ -61,15 +61,16 @@ Sub::Sub(void) :
condition_start(0),
G_Dt(MAIN_LOOP_SECONDS),
inertial_nav(ahrs),
attitude_control(ahrs, aparm, motors, MAIN_LOOP_SECONDS),
pos_control(ahrs, inertial_nav, motors, attitude_control,
ahrs_view(ahrs, ROTATION_NONE),
attitude_control(ahrs_view, aparm, motors, MAIN_LOOP_SECONDS),
pos_control(ahrs_view, inertial_nav, motors, attitude_control,
g.p_alt_hold, g.p_vel_z, g.pid_accel_z,
g.p_pos_xy, g.pi_vel_xy),
#if AVOIDANCE_ENABLED == ENABLED
avoid(ahrs, inertial_nav, fence, g2.proximity),
#endif
wp_nav(inertial_nav, ahrs, pos_control, attitude_control),
circle_nav(inertial_nav, ahrs, pos_control),
wp_nav(inertial_nav, ahrs_view, pos_control, attitude_control),
circle_nav(inertial_nav, ahrs_view, pos_control),
pmTest1(0),
fast_loopTimer(0),
mainLoop_count(0),

2
ArduSub/Sub.h
View File

@ -401,6 +401,8 @@ private:
// Inertial Navigation
AP_InertialNav_NavEKF inertial_nav;
AP_AHRS_View ahrs_view;
// Attitude, Position and Waypoint navigation objects
// To-Do: move inertial nav up or other navigation variables down here
AC_AttitudeControl_Sub attitude_control;