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39 lines
611 B
39 lines
611 B
// |
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// Simple test for the AP_AHRS interface |
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// |
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#include <AP_ADC/AP_ADC.h> |
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#include <AP_AHRS/AP_AHRS.h> |
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#include <AP_HAL/AP_HAL.h> |
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#include <AP_Module/AP_Module.h> |
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void setup(); |
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void loop(); |
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const AP_HAL::HAL& hal = AP_HAL::get_HAL(); |
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// sensor declaration |
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AP_InertialSensor ins; |
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AP_GPS gps; |
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AP_Baro baro; |
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AP_SerialManager serial_manager; |
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// choose which AHRS system to use |
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AP_AHRS_DCM ahrs(ins, baro, gps); |
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void setup(void) |
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{ |
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serial_manager.init(); |
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ins.init(100); |
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baro.init(); |
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ahrs.init(); |
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gps.init(nullptr, serial_manager); |
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} |
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void loop(void) |
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{ |
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ahrs.update(); |
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} |
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AP_HAL_MAIN();
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