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purple: declare sensors for purple library rework

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we need some different declarations to match the new APIs
This commit is contained in:
Pat Hickey 2011-11-13 15:09:18 +11:00
parent d5ebf30d74
commit d3a45a053d
1 changed files with 47 additions and 4 deletions
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51
ArduPlane/ArduPlane.pde
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@ -26,15 +26,19 @@ version 2.1 of the License, or (at your option) any later version.
// Libraries
#include <FastSerial.h>
#include <AP_Common.h>
#include <Arduino_Mega_ISR_Registry.h>
#include <APM_RC.h> // ArduPilot Mega RC Library
#include <AP_GPS.h> // ArduPilot GPS library
#include <Wire.h> // Arduino I2C lib
#include <SPI.h> // Arduino SPI lib
#include <DataFlash.h> // ArduPilot Mega Flash Memory Library
#include <AP_ADC.h> // ArduPilot Mega Analog to Digital Converter Library
#include <AP_AnalogSource.h>// ArduPilot Mega polymorphic analog getter
#include <AP_PeriodicProcess.h> // ArduPilot Mega TimerProcess and TimerAperiodicProcess
#include <APM_BMP085.h> // ArduPilot Mega BMP085 Library
#include <AP_Compass.h> // ArduPilot Mega Magnetometer Library
#include <AP_Math.h> // ArduPilot Mega Vector/Matrix math Library
#include <AP_InertialSensor.h> // Inertial Sensor (uncalibated IMU) Library
#include <AP_IMU.h> // ArduPilot Mega IMU Library
#include <AP_DCM.h> // ArduPilot Mega DCM Library
#include <PID.h> // PID library
@ -66,6 +70,31 @@ FastSerialPort0(Serial); // FTDI/console
FastSerialPort1(Serial1); // GPS port
FastSerialPort3(Serial3); // Telemetry port
////////////////////////////////////////////////////////////////////////////////
// ISR Registry
////////////////////////////////////////////////////////////////////////////////
Arduino_Mega_ISR_Registry isr_registry;
////////////////////////////////////////////////////////////////////////////////
// APM_RC_Class Instance
////////////////////////////////////////////////////////////////////////////////
#if CONFIG_APM_HARDWARE == APM_HARDWARE_PURPLE
APM_RC_Purple APM_RC;
#else
APM_RC_APM1 APM_RC;
#endif
////////////////////////////////////////////////////////////////////////////////
// Dataflash
////////////////////////////////////////////////////////////////////////////////
#if CONFIG_APM_HARDWARE == APM_HARDWARE_PURPLE
DataFlash_Purple DataFlash;
#else
DataFlash_APM1 DataFlash;
#endif
////////////////////////////////////////////////////////////////////////////////
// Parameters
////////////////////////////////////////////////////////////////////////////////
@ -153,7 +182,14 @@ AP_IMU_Shim imu; // never used
#if HIL_MODE != HIL_MODE_ATTITUDE
#if HIL_MODE != HIL_MODE_SENSORS
// Normal
AP_IMU_Oilpan imu(&adc, Parameters::k_param_IMU_calibration);
#if CONFIG_IMU_TYPE == CONFIG_IMU_MPU6000
AP_InertialSensor_MPU6000 ins( CONFIG_MPU6000_CHIP_SELECT_PIN );
AP_TimerProcess timer_scheduler;
#else
AP_InertialSensor_Oilpan ins( &adc );
AP_TimerAperiodicProcess timer_scheduler;
#endif
AP_IMU_INS imu( &ins, Parameters::k_param_IMU_calibration );
#else
// hil imu
AP_IMU_Shim imu;
@ -170,17 +206,24 @@ GCS_MAVLINK gcs0(Parameters::k_param_streamrates_port0);
GCS_MAVLINK gcs3(Parameters::k_param_streamrates_port3);
////////////////////////////////////////////////////////////////////////////////
// SONAR selection
// PITOT selection
////////////////////////////////////////////////////////////////////////////////
//
ModeFilter sonar_mode_filter;
#if CONFIG_PITOT_SOURCE == PITOT_SOURCE_ADC
AP_AnalogSource_ADC pitot_analog_source( &adc,
CONFIG_PITOT_SOURCE_ADC_CHANNEL, 0.25);
#elif CONFIG_PITOT_SOURCE == PITOT_SOURCE_ANALOG_PIN
AP_AnalogSource_Arduino pitot_analog_source(CONFIG_PITOT_SOURCE_ANALOG_PIN);
#endif
#if SONAR_TYPE == MAX_SONAR_XL
AP_RangeFinder_MaxsonarXL sonar(&adc, &sonar_mode_filter);//(SONAR_PORT, &adc);
AP_RangeFinder_MaxsonarXL sonar(&pitot_analog_source, &sonar_mode_filter);
#elif SONAR_TYPE == MAX_SONAR_LV
// XXX honestly I think these output the same values
// If someone knows, can they confirm it?
AP_RangeFinder_MaxsonarXL sonar(&adc, &sonar_mode_filter);//(SONAR_PORT, &adc);
AP_RangeFinder_MaxsonarXL sonar(&pitot_analog_source, &sonar_mode_filter);
#endif
////////////////////////////////////////////////////////////////////////////////