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InertialNav: fix example sketch

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This commit is contained in:
Randy Mackay 2013-09-26 14:40:32 +09:00
parent 02f7310689
commit e5c5084e76
1 changed files with 4 additions and 2 deletions
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6
libraries/AP_InertialNav/examples/AP_InertialNav_test/AP_InertialNav_test.pde
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@ -8,6 +8,7 @@
#include <AP_HAL_AVR.h>
#include <AP_GPS.h> // ArduPilot GPS library
#include <AP_GPS_Glitch.h> // GPS glitch protection library
#include <AP_ADC.h> // ArduPilot Mega Analog to Digital Converter Library
#include <AP_ADC_AnalogSource.h>
#include <AP_Baro.h> // ArduPilot Mega Barometer Library
@ -42,11 +43,12 @@ AP_Baro_BMP085 baro;
GPS *gps;
AP_GPS_Auto auto_gps(&gps);
GPS_Glitch gps_glitch(gps);
AP_Compass_HMC5843 compass;
AP_AHRS_DCM ahrs(&ins, gps);
AP_InertialNav inertialnav(&ahrs, &ins, &baro, &gps);
AP_InertialNav inertialnav(&ahrs, &ins, &baro, gps, gps_glitch);
uint32_t last_update;
@ -66,7 +68,7 @@ void setup(void)
inertialnav.init();
inertialnav.set_velocity_xy(0,0);
inertialnav.set_current_position(0,0);
inertialnav.set_home_position(0,0);
}
void loop(void)