Changeset 157 in flair-src for trunk/lib/FlairMeta/src/HdsX8.cpp

Timestamp:

Mar 4, 2017, 3:29:18 PM (8 years ago)

Author:

Sanahuja Guillaume

Message:

iadded isready to iodevice:
avoid problem of imu not ready in ardrone2

File:

• trunk/lib/FlairMeta/src/HdsX8.cpp (modified) (2 diffs)

trunk/lib/FlairMeta/src/HdsX8.cpp

@@ -35 +35 @@
 namespace meta {
 
-HdsX8::HdsX8(string name,
+HdsX8::HdsX8(string name,string options,
              filter::UavMultiplex *multiplex)
     : Uav(name, multiplex) {
@@ -56 +56 @@
 
 void HdsX8::StartSensors(void) {
-  ((Gx3_25_ahrs *)GetAhrs())->Start();
+  ((Gx3_25_imu *)(GetAhrs()->GetImu()))->Start();
   ((Srf08 *)GetUsRangeFinder())->Start();
   ((Ps3Eye *)GetVerticalCamera())->Start();
 }
 
+bool HdsX8::isReadyToFly(void) const {
+  return GetAhrs()->GetImu()->IsReady();
+}
+
 } // end namespace meta
 } // end namespace flair