source: flair-src/trunk/lib/FlairMeta/src/HdsX8.cpp

Last change on this file was 417, checked in by Sanahuja Guillaume, 8 months ago

define and use passthrough ahrs

File size: 2.5 KB
RevLine 
[10]1// %flair:license{
[15]2// This file is part of the Flair framework distributed under the
3// CECILL-C License, Version 1.0.
[10]4// %flair:license}
[7]5//  created:    2015/02/08
6//  filename:   HdsX8.cpp
7//
8//  author:     Guillaume Sanahuja
9//              Copyright Heudiasyc UMR UTC/CNRS 7253
10//
11//  version:    $Id: $
12//
[22]13//  purpose:    Class defining a HDS X8 uav
[7]14//
15//
16/*********************************************************************/
[268]17#ifdef ARMV7A
[7]18
19#include "HdsX8.h"
20#include <FrameworkManager.h>
21#include <RTDM_I2cPort.h>
22#include <RTDM_SerialPort.h>
23#include <Srf08.h>
[417]24#include <PassthroughAhrs.h>
25#include <Gx3_25_imu.h>
[7]26#include <BlCtrlV2.h>
27#include <X4X8Multiplex.h>
28#include <Ps3Eye.h>
[185]29#include <Mb800.h>
30#include <FindArgument.h>
[7]31
32using std::string;
33using namespace flair::core;
34using namespace flair::sensor;
35using namespace flair::filter;
36using namespace flair::actuator;
37
[15]38namespace flair {
39namespace meta {
[7]40
[157]41HdsX8::HdsX8(string name,string options,
[15]42             filter::UavMultiplex *multiplex)
[122]43    : Uav(name, multiplex) {
44  RTDM_I2cPort *i2cport = new RTDM_I2cPort(getFrameworkManager(), "rtdm_i2c", "rti2c3");
45  RTDM_SerialPort *imu_port = new RTDM_SerialPort(getFrameworkManager(), "imu_port", "rtser1");
[7]46
[15]47  if (multiplex == NULL)
[137]48    SetMultiplex(new X4X8Multiplex( "motors", X4X8Multiplex::X8));
[7]49
[15]50  SetBldc(new BlCtrlV2(GetUavMultiplex(), GetUavMultiplex()->GetLayout(),
51                       "motors", GetUavMultiplex()->MotorsCount(), i2cport));
[137]52  SetUsRangeFinder(new Srf08("SRF08", i2cport, 0x70, 60));
[417]53 
54  SetAhrs(new PassthroughAhrs(new Gx3_25_imu("imu",imu_port,Gx3_25_imu::AccelerationAngularRateAndOrientationMatrix, 70),"ahrs"));
[15]55  SetBatteryMonitor(((BlCtrlV2 *)GetBldc())->GetBatteryMonitor());
[185]56 
[403]57  if(Image::IsUsingDefaultAllocAndFree()) {
58    SetVerticalCamera(new Ps3Eye("camv", 0, false,50));//no cmem and no dsp
59  } else {
60    SetVerticalCamera(new Ps3Eye("camv", 0, true,50));//cmem and dsp
61  }
62 
[185]63  string useGps=FindArgument(options,"use_gps=",false);
64  if(useGps=="true") {
65    RTDM_SerialPort *gps_port = new RTDM_SerialPort(getFrameworkManager(), "gps_port", "rtser2");
[186]66    SetGps(new Mb800("gps",gps_port,(NmeaGps::NMEAFlags_t)(NmeaGps::GGA|NmeaGps::VTG|NmeaGps::GSA),40));
[185]67  } 
[7]68}
69
[15]70HdsX8::~HdsX8() {}
[7]71
72void HdsX8::StartSensors(void) {
[157]73  ((Gx3_25_imu *)(GetAhrs()->GetImu()))->Start();
[15]74  ((Srf08 *)GetUsRangeFinder())->Start();
[107]75  ((Ps3Eye *)GetVerticalCamera())->Start();
[186]76  if(GetGps()) ((Mb800 *)GetGps())->Start();
[7]77}
78
[157]79bool HdsX8::isReadyToFly(void) const {
80  return GetAhrs()->GetImu()->IsReady();
81}
82
[7]83} // end namespace meta
84} // end namespace flair
[268]85
[403]86#endif
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