| 1 | // created: 2015/02/08
|
|---|
| 2 | // filename: HdsX8.cpp
|
|---|
| 3 | //
|
|---|
| 4 | // author: Guillaume Sanahuja
|
|---|
| 5 | // Copyright Heudiasyc UMR UTC/CNRS 7253
|
|---|
| 6 | //
|
|---|
| 7 | // version: $Id: $
|
|---|
| 8 | //
|
|---|
| 9 | // purpose: Class defining an HDS X8 uav
|
|---|
| 10 | //
|
|---|
| 11 | //
|
|---|
| 12 | /*********************************************************************/
|
|---|
| 13 |
|
|---|
| 14 | #include "HdsX8.h"
|
|---|
| 15 | #include <FrameworkManager.h>
|
|---|
| 16 | #include <RTDM_I2cPort.h>
|
|---|
| 17 | #include <RTDM_SerialPort.h>
|
|---|
| 18 | #include <Srf08.h>
|
|---|
| 19 | #include <Gx3_25_ahrs.h>
|
|---|
| 20 | #include <BlCtrlV2.h>
|
|---|
| 21 | #include <X4X8Multiplex.h>
|
|---|
| 22 | #include <Ps3Eye.h>
|
|---|
| 23 |
|
|---|
| 24 | using std::string;
|
|---|
| 25 | using namespace flair::core;
|
|---|
| 26 | using namespace flair::sensor;
|
|---|
| 27 | using namespace flair::filter;
|
|---|
| 28 | using namespace flair::actuator;
|
|---|
| 29 |
|
|---|
| 30 | namespace flair { namespace meta {
|
|---|
| 31 |
|
|---|
| 32 | HdsX8::HdsX8(FrameworkManager* parent,string uav_name,filter::UavMultiplex *multiplex) : Uav(parent,uav_name,multiplex) {
|
|---|
| 33 | RTDM_I2cPort* i2cport=new RTDM_I2cPort(parent,"rtdm_i2c","rti2c3");
|
|---|
| 34 | RTDM_SerialPort* imu_port=new RTDM_SerialPort(parent,"imu_port","rtser1");
|
|---|
| 35 |
|
|---|
| 36 | if(multiplex==NULL) SetMultiplex(new X4X8Multiplex(parent,"motors",X4X8Multiplex::X8));
|
|---|
| 37 |
|
|---|
| 38 | SetBldc(new BlCtrlV2(GetUavMultiplex(),GetUavMultiplex()->GetLayout(),"motors",GetUavMultiplex()->MotorsCount(),i2cport));
|
|---|
| 39 | SetUsRangeFinder(new Srf08(parent,"SRF08",i2cport,0x70,60));
|
|---|
| 40 | SetAhrs(new Gx3_25_ahrs(parent,"imu",imu_port,Gx3_25_imu::EulerAnglesAndAngularRates,70));
|
|---|
| 41 | SetBatteryMonitor(((BlCtrlV2*)GetBldc())->GetBatteryMonitor());
|
|---|
| 42 |
|
|---|
| 43 | /*
|
|---|
| 44 | if(VRPNType==Auto || VRPNType==AutoSerialPort)
|
|---|
| 45 | {
|
|---|
| 46 | RTDM_SerialPort* vrpn_port=new RTDM_SerialPort(parent,"vrpn_port","rtser3");
|
|---|
| 47 |
|
|---|
| 48 | vrpnclient=new VrpnClient(parent,"vrpn",vrpn_port,10000,80);
|
|---|
| 49 | uav_vrpn=new MetaVrpnObject(vrpnclient,uav_name,VRPNSerialObjectId);
|
|---|
| 50 | }
|
|---|
| 51 | */
|
|---|
| 52 | SetVerticalCamera(new Ps3Eye(parent,"camv",0,50));
|
|---|
| 53 | }
|
|---|
| 54 |
|
|---|
| 55 | HdsX8::~HdsX8() {
|
|---|
| 56 |
|
|---|
| 57 | }
|
|---|
| 58 |
|
|---|
| 59 | void HdsX8::StartSensors(void) {
|
|---|
| 60 | ((Gx3_25_ahrs*)GetAhrs())->Start();
|
|---|
| 61 | ((Srf08*)GetUsRangeFinder())->Start();
|
|---|
| 62 | ((Ps3Eye *)GetVerticalCamera())->Start();
|
|---|
| 63 | Uav::StartSensors();
|
|---|
| 64 | }
|
|---|
| 65 |
|
|---|
| 66 | } // end namespace meta
|
|---|
| 67 | } // end namespace flair
|
|---|
