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ArduCopter: reworked sonar analog source creation

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This commit is contained in:
Pat Hickey 2012-12-12 15:53:48 -08:00 committed by Andrew Tridgell
parent d9e0bbbbab
commit f281d9265e
1 changed files with 19 additions and 12 deletions
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31
ArduCopter/ArduCopter.pde
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@ -291,17 +291,13 @@ GCS_MAVLINK gcs3;
// SONAR selection
////////////////////////////////////////////////////////////////////////////////
//
ModeFilterInt16_Size5 sonar_mode_filter(2);
#if CONFIG_SONAR == ENABLED
#if CONFIG_SONAR_SOURCE == SONAR_SOURCE_ADC
AP_AnalogSource_ADC sonar_analog_source( &adc, CONFIG_SONAR_SOURCE_ADC_CHANNEL, 0.25);
#elif CONFIG_SONAR_SOURCE == SONAR_SOURCE_ANALOG_PIN
AP_AnalogSource_Arduino sonar_analog_source(CONFIG_SONAR_SOURCE_ANALOG_PIN);
#endif
AP_RangeFinder_MaxsonarXL sonar(&sonar_analog_source, &sonar_mode_filter);
ModeFilterInt16_Size5 sonar_mode_filter(2);
AP_HAL::AnalogSource *sonar_analog_source;
AP_RangeFinder_MaxsonarXL *sonar;
#endif
// agmatthews USERHOOKS
////////////////////////////////////////////////////////////////////////////////
// User variables
////////////////////////////////////////////////////////////////////////////////
@ -884,6 +880,21 @@ void get_throttle_althold(int32_t target_alt, int16_t max_climb_rate = ALTHOLD_M
////////////////////////////////////////////////////////////////////////////////
void setup() {
#if CONFIG_SONAR == ENABLED
#if CONFIG_SONAR_SOURCE == SONAR_SOURCE_ADC
sonar_analog_source = new AP_AnalogSource_ADC(
&adc, CONFIG_SONAR_SOURCE_ADC_CHANNEL, 0.25);
#elif CONFIG_SONAR_SOURCE == SONAR_SOURCE_ANALOG_PIN
sonar_analog_source = hal.analogin->channel(
CONFIG_SONAR_SOURCE_ANALOG_PIN);
#else
#warning "Invalid CONFIG_SONAR_SOURCE"
#endif
sonar = new AP_RangeFinder_MaxsonarXL(&sonar_analog_source,
&sonar_mode_filter);
#endif
memcheck_init();
init_ardupilot();
}
@ -1024,7 +1035,6 @@ static void fast_loop()
// update targets to rate controllers
update_rate_contoller_targets();
// agmatthews - USERHOOKS
#ifdef USERHOOK_FASTLOOP
USERHOOK_FASTLOOP
#endif
@ -1125,7 +1135,6 @@ static void medium_loop()
// -----------------------
arm_motors();
// agmatthews - USERHOOKS
#ifdef USERHOOK_MEDIUMLOOP
USERHOOK_MEDIUMLOOP
#endif
@ -1267,7 +1276,6 @@ static void slow_loop()
camera_mount2.update_mount_type();
#endif
// agmatthews - USERHOOKS
#ifdef USERHOOK_SLOWLOOP
USERHOOK_SLOWLOOP
#endif
@ -1320,7 +1328,6 @@ static void super_slow_loop()
gcs_send_message(MSG_HEARTBEAT);
// agmatthews - USERHOOKS
#ifdef USERHOOK_SUPERSLOWLOOP
USERHOOK_SUPERSLOWLOOP
#endif