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

Timestamp:

03/04/17 15:29:18 (7 years ago)

Author:

Sanahuja Guillaume

Message:

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

File:

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

trunk/lib/FlairMeta/src/XAir.cpp

@@ -38 +38 @@
 namespace meta {
 
-XAir::XAir(string name,
+XAir::XAir(string name, string options,
            filter::UavMultiplex *multiplex)
     : Uav(name, multiplex) {
@@ -61 +61 @@
 
 void XAir::StartSensors(void) {
-  ((Gx3_25_ahrs *)GetAhrs())->Start();
+  ((Gx3_25_imu *)(GetAhrs()->GetImu()))->Start();
   ((Srf08 *)GetUsRangeFinder())->Start();
   ((Ps3Eye *)GetVerticalCamera())->Start();
 }
 
+bool XAir::isReadyToFly(void) const {
+  return GetAhrs()->GetImu()->IsReady();
+}
+
 } // end namespace meta
 } // end namespace flair