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Copter: fixed HIL build on PX4

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This commit is contained in:
Andrew Tridgell 2014-02-17 12:34:34 +11:00
parent c39ad1cafb
commit ce66314f40
1 changed files with 7 additions and 9 deletions
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16
ArduCopter/ArduCopter.pde
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@ -316,13 +316,6 @@ AP_GPS_None g_gps_driver;
#error Unrecognised GPS_PROTOCOL setting.
#endif // GPS PROTOCOL
// Inertial Navigation EKF
#if AP_AHRS_NAVEKF_AVAILABLE
AP_AHRS_NavEKF ahrs(ins, barometer, g_gps);
#else
AP_AHRS_DCM ahrs(ins, barometer, g_gps);
#endif
#elif HIL_MODE != HIL_MODE_DISABLED
// sensor emulators
static AP_ADC_HIL adc;
@ -330,8 +323,6 @@ static AP_Baro_HIL barometer;
static AP_Compass_HIL compass;
static AP_GPS_HIL g_gps_driver;
static AP_InertialSensor_HIL ins;
static AP_AHRS_DCM ahrs(ins, barometer, g_gps);
#if CONFIG_HAL_BOARD == HAL_BOARD_AVR_SITL
// When building for SITL we use the HIL barometer and compass drivers
@ -342,6 +333,13 @@ static SITL sitl;
#error Unrecognised HIL_MODE setting.
#endif // HIL MODE
// Inertial Navigation EKF
#if AP_AHRS_NAVEKF_AVAILABLE
AP_AHRS_NavEKF ahrs(ins, barometer, g_gps);
#else
AP_AHRS_DCM ahrs(ins, barometer, g_gps);
#endif
////////////////////////////////////////////////////////////////////////////////
// Optical flow sensor
////////////////////////////////////////////////////////////////////////////////