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

Last change on this file was 417, checked in by Sanahuja Guillaume, 6 months ago

define and use passthrough ahrs

File size: 2.4 KB
Line 
1// %flair:license{
2// This file is part of the Flair framework distributed under the
3// CECILL-C License, Version 1.0.
4// %flair:license}
5//  created:    2015/02/08
6//  filename:   XAir.cpp
7//
8//  author:     Guillaume Sanahuja
9//              Copyright Heudiasyc UMR UTC/CNRS 7253
10//
11//  version:    $Id: $
12//
13//  purpose:    Class defining a Xair uav
14//
15//
16/*********************************************************************/
17#ifdef ARMV7A
18
19#include "XAir.h"
20#include <FrameworkManager.h>
21#include <RTDM_I2cPort.h>
22#include <RTDM_SerialPort.h>
23#include <Srf08.h>
24#include <PassthroughAhrs.h>
25#include <Gx3_25_imu.h>
26#include <AfroBldc.h>
27#include <X4X8Multiplex.h>
28#include <Ps3Eye.h>
29#include <BatteryMonitor.h>
30#include <Tab.h>
31
32using std::string;
33using namespace flair::core;
34using namespace flair::gui;
35using namespace flair::sensor;
36using namespace flair::filter;
37using namespace flair::actuator;
38
39namespace flair {
40namespace meta {
41
42XAir::XAir(string name, string options,
43           filter::UavMultiplex *multiplex)
44    : Uav(name, multiplex) {
45  RTDM_I2cPort *i2cport = new RTDM_I2cPort(getFrameworkManager(), "rtdm_i2c", "rti2c3");
46  RTDM_SerialPort *imu_port = new RTDM_SerialPort(getFrameworkManager(), "imu_port", "rtser1");
47
48  if (multiplex == NULL)
49    SetMultiplex(new X4X8Multiplex("motors", X4X8Multiplex::X8));
50
51  SetBldc(new AfroBldc(GetUavMultiplex(), GetUavMultiplex()->GetLayout(),
52                       "motors", GetUavMultiplex()->MotorsCount(), i2cport));
53  SetUsRangeFinder(new Srf08("SRF08", i2cport, 0x70, 60));
54  SetAhrs(new PassthroughAhrs(new Gx3_25_imu("imu",imu_port,Gx3_25_imu::AccelerationAngularRateAndOrientationMatrix, 70),"ahrs"));
55 
56  Tab *bat_tab = new Tab(getFrameworkManager()->GetTabWidget(), "battery");
57  SetBatteryMonitor(new BatteryMonitor(bat_tab->NewRow(), "battery"));
58  GetBatteryMonitor()->SetBatteryValue(12);
59 
60  if(Image::IsUsingDefaultAllocAndFree()) {
61    SetVerticalCamera(new Ps3Eye("camv", 0, false,50));//no cmem and no dsp
62  } else {
63    SetVerticalCamera(new Ps3Eye("camv", 0, true,50));//cmem and dsp
64  }
65}
66
67XAir::~XAir() {}
68
69void XAir::StartSensors(void) {
70  ((Gx3_25_imu *)(GetAhrs()->GetImu()))->Start();
71  ((Srf08 *)GetUsRangeFinder())->Start();
72  ((Ps3Eye *)GetVerticalCamera())->Start();
73}
74
75bool XAir::isReadyToFly(void) const {
76  return GetAhrs()->GetImu()->IsReady();
77}
78
79} // end namespace meta
80} // end namespace flair
81
82#endif
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