source: flair-src/trunk/lib/FlairMeta/src/HdsX8.cpp@ 258

Last change on this file since 258 was 186, checked in by Sanahuja Guillaume, 7 years ago

maj imu

File size: 2.3 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/*********************************************************************/
17
18#include "HdsX8.h"
19#include <FrameworkManager.h>
20#include <RTDM_I2cPort.h>
21#include <RTDM_SerialPort.h>
22#include <Srf08.h>
23#include <Gx3_25_ahrs.h>
24#include <BlCtrlV2.h>
25#include <X4X8Multiplex.h>
26#include <Ps3Eye.h>
[185]27#include <Mb800.h>
28#include <FindArgument.h>
[7]29
30using std::string;
31using namespace flair::core;
32using namespace flair::sensor;
33using namespace flair::filter;
34using namespace flair::actuator;
35
[15]36namespace flair {
37namespace meta {
[7]38
[157]39HdsX8::HdsX8(string name,string options,
[15]40 filter::UavMultiplex *multiplex)
[122]41 : Uav(name, multiplex) {
42 RTDM_I2cPort *i2cport = new RTDM_I2cPort(getFrameworkManager(), "rtdm_i2c", "rti2c3");
43 RTDM_SerialPort *imu_port = new RTDM_SerialPort(getFrameworkManager(), "imu_port", "rtser1");
[7]44
[15]45 if (multiplex == NULL)
[137]46 SetMultiplex(new X4X8Multiplex( "motors", X4X8Multiplex::X8));
[7]47
[15]48 SetBldc(new BlCtrlV2(GetUavMultiplex(), GetUavMultiplex()->GetLayout(),
49 "motors", GetUavMultiplex()->MotorsCount(), i2cport));
[137]50 SetUsRangeFinder(new Srf08("SRF08", i2cport, 0x70, 60));
[186]51 SetAhrs(new Gx3_25_ahrs("ahrs", imu_port,
[100]52 Gx3_25_imu::AccelerationAngularRateAndOrientationMatrix, 70));
[15]53 SetBatteryMonitor(((BlCtrlV2 *)GetBldc())->GetBatteryMonitor());
[137]54 SetVerticalCamera(new Ps3Eye("camv", 0, 50));
[185]55
56 string useGps=FindArgument(options,"use_gps=",false);
57 if(useGps=="true") {
58 RTDM_SerialPort *gps_port = new RTDM_SerialPort(getFrameworkManager(), "gps_port", "rtser2");
[186]59 SetGps(new Mb800("gps",gps_port,(NmeaGps::NMEAFlags_t)(NmeaGps::GGA|NmeaGps::VTG|NmeaGps::GSA),40));
[185]60 }
[7]61}
62
[15]63HdsX8::~HdsX8() {}
[7]64
65void HdsX8::StartSensors(void) {
[157]66 ((Gx3_25_imu *)(GetAhrs()->GetImu()))->Start();
[15]67 ((Srf08 *)GetUsRangeFinder())->Start();
[107]68 ((Ps3Eye *)GetVerticalCamera())->Start();
[186]69 if(GetGps()) ((Mb800 *)GetGps())->Start();
[7]70}
71
[157]72bool HdsX8::isReadyToFly(void) const {
73 return GetAhrs()->GetImu()->IsReady();
74}
75
[7]76} // end namespace meta
77} // end namespace flair
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