Rover live test WORKS! "Murphy's Law is a turtle"

ArduRover/CarStampede.h

@@ -35,8 +35,8 @@ static const uint32_t gpsBaud = 38400;
 static const uint32_t hilBaud = 115200;
 
 // optional sensors
-static const bool gpsEnabled = false;
-static const bool baroEnabled = false;
+static const bool gpsEnabled = true;
+static const bool baroEnabled = true;
 static const bool compassEnabled = true;
 static const Matrix3f compassOrientation = AP_COMPASS_COMPONENTS_UP_PINS_FORWARD;
 // compass orientation: See AP_Compass_HMC5843.h for possible values

libraries/APM_RC/APM_RC.h

@@ -33,10 +33,13 @@
 
 #define NUM_CHANNELS 8
 
+
+class Arduino_Mega_ISR_Registry;
+
 class APM_RC_Class
 {
   public:
-	APM_RC_Class() {}
+	virtual void Init( Arduino_Mega_ISR_Registry * isr_reg );
 	virtual void OutputCh(uint8_t ch, uint16_t pwm) = 0;
 	virtual uint16_t InputCh(uint8_t ch) = 0;
 	virtual uint8_t GetState() = 0;

libraries/APO/APO_DefaultSetup.h

@@ -36,11 +36,14 @@ void setup() {
     hal->debug = &Serial;
     hal->debug->println_P(PSTR("initializing debug line"));
 
+    // isr
+    hal->isr_registry = new Arduino_Mega_ISR_Registry;
+
     // initialize radio
     hal->radio = new APM_RC_APM1;
+    hal->radio->Init(hal->isr_registry);
 
     // initialize scheduler
-    hal->isr_registry = new Arduino_Mega_ISR_Registry;
     hal->scheduler = new AP_TimerProcess;
     hal->scheduler->init(hal->isr_registry);
 

libraries/APO/examples/ServoManual/ServoManual.pde

@@ -10,6 +10,7 @@
 #include <AP_RcChannel.h> 	// ArduPilot Mega RC Library
 #include <APM_RC.h>
 #include <AP_Vector.h>
+#include <Arduino_Mega_ISR_Registry.h>
 FastSerialPort0(Serial)
 ; // make sure this proceeds variable declarations
 
@@ -33,38 +34,40 @@ private:
         ch8Key
     };
     Vector<AP_RcChannel *> ch;
+    APM_RC_APM1 radio;
+    Arduino_Mega_ISR_Registry isr_registry;
 public:
     RadioTest() :
         testPosition(2), testSign(1) {
         ch.push_back(
-            new AP_RcChannel(rollKey, PSTR("ROLL"), APM_RC, 0, 1100, 1500,
+            new AP_RcChannel(rollKey, PSTR("ROLL"), &radio, 0, 1100, 1500,
                              1900, RC_MODE_INOUT, false));
         ch.push_back(
-            new AP_RcChannel(pitchKey, PSTR("PITCH"), APM_RC, 1, 1100,
+            new AP_RcChannel(pitchKey, PSTR("PITCH"), &radio, 1, 1100,
                              1500, 1900, RC_MODE_INOUT, false));
         ch.push_back(
-            new AP_RcChannel(thrKey, PSTR("THR"), APM_RC, 2, 1100, 1500,
+            new AP_RcChannel(thrKey, PSTR("THR"), &radio, 2, 1100, 1500,
                              1900, RC_MODE_INOUT, false));
         ch.push_back(
-            new AP_RcChannel(yawKey, PSTR("YAW"), APM_RC, 3, 1100, 1500,
+            new AP_RcChannel(yawKey, PSTR("YAW"), &radio, 3, 1100, 1500,
                              1900, RC_MODE_INOUT, false));
         ch.push_back(
-            new AP_RcChannel(ch5Key, PSTR("CH5"), APM_RC, 4, 1100, 1500,
+            new AP_RcChannel(ch5Key, PSTR("CH5"), &radio, 4, 1100, 1500,
                              1900, RC_MODE_INOUT, false));
         ch.push_back(
-            new AP_RcChannel(ch6Key, PSTR("CH6"), APM_RC, 5, 1100, 1500,
+            new AP_RcChannel(ch6Key, PSTR("CH6"), &radio, 5, 1100, 1500,
                              1900, RC_MODE_INOUT, false));
         ch.push_back(
-            new AP_RcChannel(ch7Key, PSTR("CH7"), APM_RC, 6, 1100, 1500,
+            new AP_RcChannel(ch7Key, PSTR("CH7"), &radio, 6, 1100, 1500,
                              1900, RC_MODE_INOUT, false));
         ch.push_back(
-            new AP_RcChannel(ch8Key, PSTR("CH8"), APM_RC, 7, 1100, 1500,
+            new AP_RcChannel(ch8Key, PSTR("CH8"), &radio, 7, 1100, 1500,
                              1900, RC_MODE_INOUT, false));
-
+        radio.Init(&isr_registry);
+        
         Serial.begin(57600);
         delay(2000);
         Serial.println("ArduPilot RC Channel test");
-        APM_RC.Init(); // APM Radio initialization
         delay(2000);
     }