Rover: convert to new AP_InertialSensor API

APMrover2/APMrover2.pde

@@ -228,29 +228,11 @@ static AP_Compass_HIL compass;
  #error Unrecognized CONFIG_COMPASS setting
 #endif
 
-#if CONFIG_INS_TYPE == HAL_INS_OILPAN || CONFIG_HAL_BOARD == HAL_BOARD_APM1
+#if CONFIG_HAL_BOARD == HAL_BOARD_APM1
 AP_ADC_ADS7844 apm1_adc;
 #endif
 
-#if CONFIG_INS_TYPE == HAL_INS_MPU6000
+AP_InertialSensor ins;
-AP_InertialSensor_MPU6000 ins;
-#elif CONFIG_INS_TYPE == HAL_INS_PX4
-AP_InertialSensor_PX4 ins;
-#elif CONFIG_INS_TYPE == HAL_INS_VRBRAIN
-AP_InertialSensor_VRBRAIN ins;
-#elif CONFIG_INS_TYPE == HAL_INS_HIL
-AP_InertialSensor_HIL ins;
-#elif CONFIG_INS_TYPE == HAL_INS_OILPAN
-AP_InertialSensor_Oilpan ins( &apm1_adc );
-#elif CONFIG_INS_TYPE == HAL_INS_FLYMAPLE
-AP_InertialSensor_Flymaple ins;
-#elif CONFIG_INS_TYPE == HAL_INS_L3G4200D
-AP_InertialSensor_L3G4200D ins;
-#elif CONFIG_INS_TYPE == HAL_INS_MPU9250
-AP_InertialSensor_MPU9250 ins;
-#else
-  #error Unrecognised CONFIG_INS_TYPE setting.
-#endif // CONFIG_INS_TYPE
 
 // Inertial Navigation EKF
 #if AP_AHRS_NAVEKF_AVAILABLE
@@ -586,9 +568,8 @@ void setup() {
 void loop()
 {
     // wait for an INS sample
-    if (!ins.wait_for_sample(1000)) {
+    ins.wait_for_sample();
-        return;
+
-    }
     uint32_t timer = hal.scheduler->micros();
 
     delta_us_fast_loop	= timer - fast_loopTimer_us;

APMrover2/config.h

@@ -51,7 +51,6 @@
 //////////////////////////////////////////////////////////////////////////////
 // sensor types
 
-#define CONFIG_INS_TYPE HAL_INS_DEFAULT
 #define CONFIG_BARO     HAL_BARO_DEFAULT
 #define CONFIG_COMPASS  HAL_COMPASS_DEFAULT
 
@@ -69,8 +68,6 @@
 #if HIL_MODE != HIL_MODE_DISABLED       // we are in HIL mode
  #undef CONFIG_BARO
  #define CONFIG_BARO HAL_BARO_HIL
- #undef CONFIG_INS_TYPE
- #define CONFIG_INS_TYPE HAL_INS_HIL
  #undef  CONFIG_COMPASS
  #define CONFIG_COMPASS HAL_COMPASS_HIL
 #endif

APMrover2/test.pde

@@ -349,7 +349,7 @@ test_ins(uint8_t argc, const Menu::arg *argv)
     uint8_t medium_loopCounter = 0;
 
 	while(1){
-        ins.wait_for_sample(1000);
+        ins.wait_for_sample();
 
         ahrs.update();
 
@@ -409,7 +409,7 @@ test_mag(uint8_t argc, const Menu::arg *argv)
     uint8_t medium_loopCounter = 0;
 
     while(1) {
-        ins.wait_for_sample(1000);
+        ins.wait_for_sample();
         ahrs.update();
 
         medium_loopCounter++;