source: flair-src/trunk/lib/FlairMeta/src/XAir.cpp@ 268

Last change on this file since 268 was 268, checked in by Sanahuja Guillaume, 6 years ago

add defines for architectures to speed up compile time

File size: 2.2 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: 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/*********************************************************************/
[268]17#ifdef ARMV7A
[7]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 <Gx3_25_ahrs.h>
25#include <AfroBldc.h>
26#include <X4X8Multiplex.h>
27#include <Ps3Eye.h>
28#include <BatteryMonitor.h>
29#include <Tab.h>
30
31using std::string;
32using namespace flair::core;
33using namespace flair::gui;
34using namespace flair::sensor;
35using namespace flair::filter;
36using namespace flair::actuator;
37
[15]38namespace flair {
39namespace meta {
[7]40
[157]41XAir::XAir(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 AfroBldc(GetUavMultiplex(), GetUavMultiplex()->GetLayout(),
51 "motors", GetUavMultiplex()->MotorsCount(), i2cport));
[137]52 SetUsRangeFinder(new Srf08("SRF08", i2cport, 0x70, 60));
53 SetAhrs(new Gx3_25_ahrs("imu", imu_port,
[100]54 Gx3_25_imu::AccelerationAngularRateAndOrientationMatrix, 70));
[122]55 Tab *bat_tab = new Tab(getFrameworkManager()->GetTabWidget(), "battery");
[15]56 SetBatteryMonitor(new BatteryMonitor(bat_tab->NewRow(), "battery"));
57 GetBatteryMonitor()->SetBatteryValue(12);
[137]58 SetVerticalCamera(new Ps3Eye("camv", 0, 50));
[7]59}
60
[15]61XAir::~XAir() {}
[7]62
63void XAir::StartSensors(void) {
[157]64 ((Gx3_25_imu *)(GetAhrs()->GetImu()))->Start();
[15]65 ((Srf08 *)GetUsRangeFinder())->Start();
66 ((Ps3Eye *)GetVerticalCamera())->Start();
[7]67}
68
[157]69bool XAir::isReadyToFly(void) const {
70 return GetAhrs()->GetImu()->IsReady();
71}
72
[7]73} // end namespace meta
74} // end namespace flair
[268]75
76#endif
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