Changeset 185 in flair-src for trunk/lib/FlairMeta


Ignore:
Timestamp:
06/14/17 11:46:03 (5 years ago)
Author:
Sanahuja Guillaume
Message:

modifs gps

Location:
trunk/lib/FlairMeta/src
Files:
5 edited

Legend:

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

    r157 r185  
    2525#include <X4X8Multiplex.h>
    2626#include <Ps3Eye.h>
     27#include <Mb800.h>
     28#include <FindArgument.h>
    2729
    2830using std::string;
     
    5153  SetBatteryMonitor(((BlCtrlV2 *)GetBldc())->GetBatteryMonitor());
    5254  SetVerticalCamera(new Ps3Eye("camv", 0, 50));
     55 
     56  string useGps=FindArgument(options,"use_gps=",false);
     57  if(useGps=="true") {
     58    RTDM_SerialPort *gps_port = new RTDM_SerialPort(getFrameworkManager(), "gps_port", "rtser2");
     59    SetGps(new Mb800("gps",gps_port,(NmeaGps::NMEAFlags_t)(NmeaGps::GGA|NmeaGps::VTG),40));
     60  }
    5361}
    5462
     
    5967  ((Srf08 *)GetUsRangeFinder())->Start();
    6068  ((Ps3Eye *)GetVerticalCamera())->Start();
     69  ((Mb800 *)GetGps())->Start();
    6170}
    6271
  • trunk/lib/FlairMeta/src/SimuX4.cpp

    r160 r185  
    2525#include <SimuCamera.h>
    2626#include <BatteryMonitor.h>
     27#include <SimuGps.h>
    2728#include <Tab.h>
    2829#include <FindArgument.h>
     
    6263  Info("using horizontal camera resolution: %ix%i\n",camhWidth, camhHeight);
    6364  SetHorizontalCamera(new SimuCamera("simu_cam_h", camhWidth, camhHeight, 3, simu_id,1, 10));
     65 
     66  string useGps=FindArgument(options,"use_gps=",false);
     67  if(useGps=="true") {
     68    SetGps(new SimuGps("gps", (NmeaGps::NMEAFlags_t)(NmeaGps::GGA | NmeaGps::VTG), 0,0, 40));
     69  }
    6470}
    6571
     
    7177  ((SimuCamera *)GetVerticalCamera())->Start();
    7278  ((SimuCamera *)GetHorizontalCamera())->Start();
     79  ((SimuGps *)GetGps())->Start();
    7380}
    7481
  • trunk/lib/FlairMeta/src/SimuX8.cpp

    r160 r185  
    2525#include <SimuCamera.h>
    2626#include <BatteryMonitor.h>
     27#include <SimuGps.h>
    2728#include <Tab.h>
    2829#include <FindArgument.h>
     
    6263  Info("using horizontal camera resolution: %ix%i\n",camhWidth, camhHeight);
    6364  SetHorizontalCamera(new SimuCamera("simu_cam_h", camhWidth, camhHeight, 3, simu_id,1, 10));
     65 
     66  string useGps=FindArgument(options,"use_gps=",false);
     67  if(useGps=="true") {
     68    SetGps(new SimuGps("gps", (NmeaGps::NMEAFlags_t)(NmeaGps::GGA | NmeaGps::VTG), 0,0, 40));
     69  }
    6470}
    6571
     
    7177  ((SimuCamera *)GetVerticalCamera())->Start();
    7278  ((SimuCamera *)GetHorizontalCamera())->Start();
     79  ((SimuGps *)GetGps())->Start();
    7380}
    7481
  • trunk/lib/FlairMeta/src/Uav.cpp

    r122 r185  
    2626#include <UavMultiplex.h>
    2727#include <UsRangeFinder.h>
     28#include <NmeaGps.h>
    2829#include <Bldc.h>
    2930#include <cvmatrix.h>
     
    5758  verticalCamera = NULL;
    5859  horizontalCamera = NULL;
     60  gps = NULL;
    5961  this->multiplex = multiplex;
    6062}
     
    9193void Uav::SetHorizontalCamera(const Camera *inHorizontalCamera) {
    9294  horizontalCamera = (Camera *)inHorizontalCamera;
     95}
     96
     97void Uav::SetGps(const NmeaGps *inGps) {
     98  gps=(NmeaGps*)inGps;
     99  getFrameworkManager()->AddDeviceToLog(gps);
    93100}
    94101
     
    148155  meta_us->UseDefaultPlot();
    149156  ahrs->UseDefaultPlot();
     157  if(gps!=NULL) gps->UseDefaultPlot();
    150158}
    151159
     
    168176Camera *Uav::GetHorizontalCamera(void) const { return horizontalCamera; }
    169177
     178NmeaGps *Uav::GetGps(void) const { return gps; }
     179
    170180} // end namespace meta
    171181} // end namespace flair
  • trunk/lib/FlairMeta/src/Uav.h

    r173 r185  
    3030                class Imu;
    3131                class Camera;
     32                class NmeaGps;
    3233        }
    3334}
     
    6263  sensor::Camera *GetVerticalCamera(void) const;
    6364  sensor::Camera *GetHorizontalCamera(void) const;
     65  sensor::NmeaGps *GetGps(void) const;
    6466        virtual std::string GetDefaultVrpnAddress(void) const{return "127.0.0.1:3883";}
    6567  virtual bool isReadyToFly(void) const { return true;}
     
    7476  void SetVerticalCamera(const sensor::Camera *verticalCamera);
    7577  void SetHorizontalCamera(const sensor::Camera *verticalCamera);
     78  void SetGps(const sensor::NmeaGps *gps);
    7679
    7780private:
    7881  sensor::Imu *imu;
     82  sensor::NmeaGps *gps;
    7983  filter::Ahrs *ahrs;
    8084  actuator::Bldc *bldc;
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