Changeset 185 in flair-src for trunk/lib/FlairMeta/src/HdsX8.cpp


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

modifs gps

File:
1 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
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