Randy Mackay
10 years ago
4 changed files with 0 additions and 77 deletions
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/* |
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* Example of AC_Fence library . |
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* DIYDrones.com |
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*/ |
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#include <AP_Common.h> |
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#include <AP_Progmem.h> |
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#include <AP_Math.h> // ArduPilot Mega Vector/Matrix math Library |
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#include <AP_Param.h> |
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#include <AP_HAL.h> |
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#include <AP_HAL_AVR.h> |
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#include <AP_GPS.h> // ArduPilot GPS library |
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#include <AP_GPS_Glitch.h> // GPS glitch protection library |
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#include <AP_ADC.h> // ArduPilot Mega Analog to Digital Converter Library |
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#include <AP_ADC_AnalogSource.h> |
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#include <AP_Baro.h> // ArduPilot Mega Barometer Library |
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#include <AP_Baro_Glitch.h> // Baro glitch protection library |
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#include <Filter.h> |
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#include <AP_Compass.h> // ArduPilot Mega Magnetometer Library |
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#include <AP_Declination.h> |
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#include <AP_InertialSensor.h> // ArduPilot Mega Inertial Sensor (accel & gyro) Library |
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#include <AP_AHRS.h> |
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#include <AP_Airspeed.h> |
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#include <AC_PID.h> // PID library |
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#include <AC_P.h> // P library |
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#include <AP_Buffer.h> // ArduPilot general purpose FIFO buffer |
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#include <AP_InertialNav.h> // Inertial Navigation library |
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#include <AC_Fence.h> // Fence library |
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#include <GCS_MAVLink.h> |
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#include <AP_Mission.h> |
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#include <StorageManager.h> |
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#include <AP_Terrain.h> |
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#include <AP_Notify.h> |
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#include <AP_Vehicle.h> |
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#include <DataFlash.h> |
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#include <AP_Nav_Common.h> |
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#include <AP_BattMonitor.h> |
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const AP_HAL::HAL& hal = AP_HAL_BOARD_DRIVER; |
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AP_InertialSensor ins; |
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#if CONFIG_HAL_BOARD == HAL_BOARD_APM1 |
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AP_ADC_ADS7844 adc; |
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#endif |
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AP_Baro baro; |
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// GPS declaration |
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AP_GPS gps; |
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GPS_Glitch gps_glitch(gps); |
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Baro_Glitch baro_glitch(baro); |
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AP_Compass_HMC5843 compass; |
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AP_AHRS_DCM ahrs(ins, baro, gps); |
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// Inertial Nav declaration |
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AP_InertialNav inertial_nav(ahrs, baro, gps_glitch, baro_glitch); |
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// Fence |
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AC_Fence fence(&inertial_nav); |
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void setup() |
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{ |
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hal.console->println("AC_Fence library test"); |
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} |
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void loop() |
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{ |
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// print message to user |
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hal.console->printf_P(PSTR("this example tests compilation only")); |
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hal.scheduler->delay(5000); |
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} |
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AP_HAL_MAIN(); |
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include ../../../../mk/apm.mk |
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