Changeset 122 in flair-src for trunk/lib/FlairMeta/src/XAir.cpp
- Timestamp:
- Jan 6, 2017, 1:56:26 PM (8 years ago)
- File:
-
- 1 edited
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trunk/lib/FlairMeta/src/XAir.cpp
r100 r122 38 38 namespace meta { 39 39 40 XAir::XAir( FrameworkManager *parent, string uav_name,40 XAir::XAir(string name, 41 41 filter::UavMultiplex *multiplex) 42 : Uav( parent, uav_name, multiplex) {43 RTDM_I2cPort *i2cport = new RTDM_I2cPort( parent, "rtdm_i2c", "rti2c3");44 RTDM_SerialPort *imu_port = new RTDM_SerialPort( parent, "imu_port", "rtser1");42 : Uav(name, multiplex) { 43 RTDM_I2cPort *i2cport = new RTDM_I2cPort(getFrameworkManager(), "rtdm_i2c", "rti2c3"); 44 RTDM_SerialPort *imu_port = new RTDM_SerialPort(getFrameworkManager(), "imu_port", "rtser1"); 45 45 46 46 if (multiplex == NULL) 47 SetMultiplex(new X4X8Multiplex( parent, "motors", X4X8Multiplex::X8));47 SetMultiplex(new X4X8Multiplex(getFrameworkManager(), "motors", X4X8Multiplex::X8)); 48 48 49 49 SetBldc(new AfroBldc(GetUavMultiplex(), GetUavMultiplex()->GetLayout(), 50 50 "motors", GetUavMultiplex()->MotorsCount(), i2cport)); 51 SetUsRangeFinder(new Srf08( parent, "SRF08", i2cport, 0x70, 60));52 SetAhrs(new Gx3_25_ahrs( parent, "imu", imu_port,51 SetUsRangeFinder(new Srf08(getFrameworkManager(), "SRF08", i2cport, 0x70, 60)); 52 SetAhrs(new Gx3_25_ahrs(getFrameworkManager(), "imu", imu_port, 53 53 Gx3_25_imu::AccelerationAngularRateAndOrientationMatrix, 70)); 54 Tab *bat_tab = new Tab( parent->GetTabWidget(), "battery");54 Tab *bat_tab = new Tab(getFrameworkManager()->GetTabWidget(), "battery"); 55 55 SetBatteryMonitor(new BatteryMonitor(bat_tab->NewRow(), "battery")); 56 56 GetBatteryMonitor()->SetBatteryValue(12); 57 58 /* 59 if(VRPNType==Auto || VRPNType==AutoSerialPort) 60 { 61 RTDM_SerialPort* vrpn_port=new 62 RTDM_SerialPort(parent,"vrpn_port","rtser3"); 63 64 vrpnclient=new VrpnClient(parent,"vrpn",vrpn_port,10000,80); 65 uav_vrpn=new 66 MetaVrpnObject(vrpnclient,uav_name,VRPNSerialObjectId); 67 } 68 */ 69 SetVerticalCamera(new Ps3Eye(parent, "camv", 0, 50)); 57 SetVerticalCamera(new Ps3Eye(getFrameworkManager(), "camv", 0, 50)); 70 58 } 71 59 … … 76 64 ((Srf08 *)GetUsRangeFinder())->Start(); 77 65 ((Ps3Eye *)GetVerticalCamera())->Start(); 78 Uav::StartSensors();79 66 } 80 67
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