Changeset 185 in flair-src for trunk/lib/FlairMeta/src/HdsX8.cpp
- Timestamp:
- Jun 14, 2017, 11:46:03 AM (8 years ago)
- File:
-
- 1 edited
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trunk/lib/FlairMeta/src/HdsX8.cpp
r157 r185 25 25 #include <X4X8Multiplex.h> 26 26 #include <Ps3Eye.h> 27 #include <Mb800.h> 28 #include <FindArgument.h> 27 29 28 30 using std::string; … … 51 53 SetBatteryMonitor(((BlCtrlV2 *)GetBldc())->GetBatteryMonitor()); 52 54 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 } 53 61 } 54 62 … … 59 67 ((Srf08 *)GetUsRangeFinder())->Start(); 60 68 ((Ps3Eye *)GetVerticalCamera())->Start(); 69 ((Mb800 *)GetGps())->Start(); 61 70 } 62 71
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