Changeset 185 in flair-src for trunk/demos/Gps

Timestamp:

Jun 14, 2017, 11:46:03 AM (8 years ago)

Author:

Sanahuja Guillaume

Message:

modifs gps

Location:

trunk/demos/Gps

Files:

• simulator/CMakeLists.txt (modified) (3 diffs)
• uav/CMakeLists.txt (modified) (1 diff)
• uav/src/DemoGps.cpp (modified) (1 diff)
• uav/src/DemoGps.h (modified) (2 diffs)
• uav/src/main.cpp (modified) (1 diff)

trunk/demos/Gps/simulator/CMakeLists.txt

@@ -5 +5 @@
 SET(FLAIR_USE_SIMULATOR TRUE)
 SET(FLAIR_USE_SIMULATOR_GL TRUE)
-SET(FLAIR_USE_GPS TRUE)
 
 include($ENV{FLAIR_ROOT}/flair-dev/cmake-modules/GlobalCmakeFlair.cmake)
@@ -23 +22 @@
 )
 
-TARGET_LINK_LIBRARIES(${PROJECT_NAME}_rt ${FLAIR_LIBRARIES_RT})
+TARGET_LINK_LIBRARIES(${PROJECT_NAME}_rt ${FLAIR_LIBRARIES_RT} nmea)
 
 #non real time executable
@@ -30 +29 @@
 )
 
-TARGET_LINK_LIBRARIES(${PROJECT_NAME}_nrt ${FLAIR_LIBRARIES_NRT})
+TARGET_LINK_LIBRARIES(${PROJECT_NAME}_nrt ${FLAIR_LIBRARIES_NRT} nmea)

trunk/demos/Gps/uav/CMakeLists.txt

@@ -7 +7 @@
 SET(FLAIR_USE_VISION_FILTER TRUE)
 SET(FLAIR_USE_META TRUE)
-SET(FLAIR_USE_GPS TRUE)
-
 
 include($ENV{FLAIR_ROOT}/flair-dev/cmake-modules/GlobalCmakeFlair.cmake)

trunk/demos/Gps/uav/src/DemoGps.cpp

@@ -46 +46 @@
   stopCircle = new PushButton(GetButtonsLayout()->LastRowLastCol(), "stop_circle");
 
-  // RTDM_SerialPort *serialport=new RTDM_SerialPort(getFrameworkManager(),"gps_serial","rtser2");
-  // gps=new Mb800("gps",serialport,(NmeaGps::NMEAFlags_t)(NmeaGps::GGA|NmeaGps::VTG),40);
-  gps = new SimuGps("gps", (NmeaGps::NMEAFlags_t)(NmeaGps::GGA | NmeaGps::VTG), 0,0, 40);
-
-  gps->UseDefaultPlot();
-  getFrameworkManager()->AddDeviceToLog(gps);
-  gps->Start();
-
-  circle = new TrajectoryGenerator2DCircle(gps->GetLayout()->NewRow(), "circle");
+  circle = new TrajectoryGenerator2DCircle(uav->GetGps()->GetLayout()->NewRow(), "circle");
   // todo: add graphs in gps plot
   /*

trunk/demos/Gps/uav/src/DemoGps.h

@@ -26 +26 @@
     namespace sensor {
         class TargetController;
-        class Mb800;
-        class SimuGps;
     }
 }
@@ -63 +61 @@
         flair::filter::TrajectoryGenerator2DCircle *circle;
         flair::core::AhrsData *customReferenceOrientation,*customOrientation;
-        //flair::sensor::Mb800 *gps;
-        flair::sensor::SimuGps *gps;
 };
 

trunk/demos/Gps/uav/src/main.cpp

@@ -45 +45 @@
     manager->SetupLogger(log_path);
 
-    Uav* drone=CreateUav(name,uav_type);
+    Uav* drone=CreateUav(name,uav_type,"use_gps=true");
     TargetEthController *controller=new TargetEthController("Dualshock3",ds3port);
     DemoGps* demo=new DemoGps(controller);