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


Ignore:
Timestamp:
Mar 4, 2017, 3:29:18 PM (4 years ago)
Author:
Sanahuja Guillaume
Message:

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

File:
1 edited

Legend:

Unmodified
Added
Removed
  • trunk/lib/FlairMeta/src/HdsX8.cpp

    r137 r157  
    3535namespace meta {
    3636
    37 HdsX8::HdsX8(string name,
     37HdsX8::HdsX8(string name,string options,
    3838             filter::UavMultiplex *multiplex)
    3939    : Uav(name, multiplex) {
     
    5656
    5757void HdsX8::StartSensors(void) {
    58   ((Gx3_25_ahrs *)GetAhrs())->Start();
     58  ((Gx3_25_imu *)(GetAhrs()->GetImu()))->Start();
    5959  ((Srf08 *)GetUsRangeFinder())->Start();
    6060  ((Ps3Eye *)GetVerticalCamera())->Start();
    6161}
    6262
     63bool HdsX8::isReadyToFly(void) const {
     64  return GetAhrs()->GetImu()->IsReady();
     65}
     66
    6367} // end namespace meta
    6468} // end namespace flair
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