Changeset 122 in flair-src for trunk/lib/FlairMeta/src/HdsX8.cpp
- Timestamp:
- Jan 6, 2017, 1:56:26 PM (8 years ago)
- File:
-
- 1 edited
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trunk/lib/FlairMeta/src/HdsX8.cpp
r107 r122 35 35 namespace meta { 36 36 37 HdsX8::HdsX8( FrameworkManager *parent, string uav_name,37 HdsX8::HdsX8(string name, 38 38 filter::UavMultiplex *multiplex) 39 : Uav( parent, uav_name, multiplex) {40 RTDM_I2cPort *i2cport = new RTDM_I2cPort( parent, "rtdm_i2c", "rti2c3");41 RTDM_SerialPort *imu_port = new RTDM_SerialPort( parent, "imu_port", "rtser1");39 : Uav(name, multiplex) { 40 RTDM_I2cPort *i2cport = new RTDM_I2cPort(getFrameworkManager(), "rtdm_i2c", "rti2c3"); 41 RTDM_SerialPort *imu_port = new RTDM_SerialPort(getFrameworkManager(), "imu_port", "rtser1"); 42 42 43 43 if (multiplex == NULL) 44 SetMultiplex(new X4X8Multiplex( parent, "motors", X4X8Multiplex::X8));44 SetMultiplex(new X4X8Multiplex(getFrameworkManager(), "motors", X4X8Multiplex::X8)); 45 45 46 46 SetBldc(new BlCtrlV2(GetUavMultiplex(), GetUavMultiplex()->GetLayout(), 47 47 "motors", GetUavMultiplex()->MotorsCount(), i2cport)); 48 SetUsRangeFinder(new Srf08( parent, "SRF08", i2cport, 0x70, 60));49 SetAhrs(new Gx3_25_ahrs( parent, "imu", imu_port,48 SetUsRangeFinder(new Srf08(getFrameworkManager(), "SRF08", i2cport, 0x70, 60)); 49 SetAhrs(new Gx3_25_ahrs(getFrameworkManager(), "imu", imu_port, 50 50 Gx3_25_imu::AccelerationAngularRateAndOrientationMatrix, 70)); 51 51 SetBatteryMonitor(((BlCtrlV2 *)GetBldc())->GetBatteryMonitor()); 52 53 /* 54 if(VRPNType==Auto || VRPNType==AutoSerialPort) 55 { 56 RTDM_SerialPort* vrpn_port=new 57 RTDM_SerialPort(parent,"vrpn_port","rtser3"); 58 59 vrpnclient=new VrpnClient(parent,"vrpn",vrpn_port,10000,80); 60 uav_vrpn=new 61 MetaVrpnObject(vrpnclient,uav_name,VRPNSerialObjectId); 62 } 63 */ 64 SetVerticalCamera(new Ps3Eye(parent, "camv", 0, 50)); 52 SetVerticalCamera(new Ps3Eye(getFrameworkManager(), "camv", 0, 50)); 65 53 } 66 54 … … 71 59 ((Srf08 *)GetUsRangeFinder())->Start(); 72 60 ((Ps3Eye *)GetVerticalCamera())->Start(); 73 Uav::StartSensors();74 61 } 75 62
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