Changeset 157 in flair-src for trunk/lib/FlairMeta/src/SimuX4.cpp
- Timestamp:
- Mar 4, 2017, 3:29:18 PM (8 years ago)
- File:
-
- 1 edited
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trunk/lib/FlairMeta/src/SimuX4.cpp
r137 r157 26 26 #include <BatteryMonitor.h> 27 27 #include <Tab.h> 28 #include <FindArgument.h> 28 29 29 30 using std::string; … … 37 38 namespace meta { 38 39 39 SimuX4::SimuX4(string name, int simu_id, 40 SimuX4::SimuX4(string name, int simu_id,string options, 40 41 filter::UavMultiplex *multiplex) 41 42 : Uav(name, multiplex) { … … 51 52 SetBatteryMonitor(new BatteryMonitor(bat_tab->NewRow(), "battery")); 52 53 GetBatteryMonitor()->SetBatteryValue(12); 54 55 string camvOpts=FindArgument(options,"camv=",false); 56 uint16_t camvWidth=320,camvHeight=240; 57 if(camvOpts=="") { 58 Info("using default vertical camera resolution: %ix%i\n",camvWidth, camvHeight); 59 } 60 53 61 SetVerticalCamera( 54 new SimuCamera("simu_cam_v", 320, 240, 3, simu_id, 10));62 new SimuCamera("simu_cam_v", camvWidth, camvHeight, 3, simu_id, 10)); 55 63 } 56 64 … … 58 66 59 67 void SimuX4::StartSensors(void) { 60 ((Simu Ahrs *)GetAhrs())->Start();68 ((SimuImu *)(GetAhrs()->GetImu()))->Start(); 61 69 ((SimuUs *)GetUsRangeFinder())->Start(); 62 70 ((SimuCamera *)GetVerticalCamera())->Start(); 63 71 } 64 72 73 65 74 } // end namespace meta 66 75 } // end namespace flair
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