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Updated AP_DCM to use AP_ADC, fixes HIL bugs.

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git-svn-id: https://arducopter.googlecode.com/svn/trunk@948 f9c3cf11-9bcb-44bc-f272-b75c42450872
This commit is contained in:
james.goppert 2010-11-27 04:44:34 +00:00
parent 7a3683e104
commit da9ecf342c
2 changed files with 11 additions and 11 deletions
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16
libraries/AP_DCM/AP_DCM_FW.cpp
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@ -40,28 +40,28 @@
// Constructors ////////////////////////////////////////////////////////////////
AP_DCM_FW::AP_DCM_FW(GPS *GPS) :
_gps(GPS),
AP_DCM_FW::AP_DCM_FW(AP_ADC * adc, GPS *gps) :
_gps(gps),
_compass(0),
_dcm_matrix(1, 0, 0,
0, 1, 0,
0, 0, 1),
_course_over_ground_x(0),
_course_over_ground_y(1)
_course_over_ground_y(1),
_imu(adc)
{
AP_IMU _imu();
}
AP_DCM_FW::AP_DCM_FW(GPS *GPS, APM_Compass_Class *withCompass) :
_gps(GPS),
AP_DCM_FW::AP_DCM_FW(AP_ADC * adc, GPS *gps, APM_Compass_Class *withCompass) :
_gps(gps),
_compass(withCompass),
_dcm_matrix(1, 0, 0,
0, 1, 0,
0, 0, 1),
_course_over_ground_x(0),
_course_over_ground_y(1)
_course_over_ground_y(1),
_imu(adc)
{
AP_IMU _imu();
}
/**************************************************/

6
libraries/AP_DCM/AP_DCM_FW.h
View File

@ -6,7 +6,7 @@
#include <inttypes.h>
#include "WProgram.h"
#include <APM_Compass.h>
#include <APM_ADC.h>
#include <AP_ADC.h>
#include <AP_GPS.h>
#include <AP_IMU.h>
@ -15,8 +15,8 @@ class AP_DCM_FW
{
public:
// Constructors
AP_DCM_FW(GPS *GPS); // Constructor - no magnetometer
AP_DCM_FW(GPS *GPS, APM_Compass_Class *withCompass); // Constructor for case with magnetometer
AP_DCM_FW(AP_ADC * adc, GPS *gps); // Constructor - no magnetometer
AP_DCM_FW(AP_ADC * adc, GPS *gps, APM_Compass_Class *withCompass); // Constructor for case with magnetometer
// Accessors
Vector3f get_gyros(void);