Changeset 186 in flair-src for trunk/lib/FlairMeta/src/HdsX8.cpp


Ignore:
Timestamp:
06/23/17 17:33:03 (5 years ago)
Author:
Sanahuja Guillaume
Message:

maj imu

File:
1 edited

Legend:

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

    r185 r186  
    4949                       "motors", GetUavMultiplex()->MotorsCount(), i2cport));
    5050  SetUsRangeFinder(new Srf08("SRF08", i2cport, 0x70, 60));
    51   SetAhrs(new Gx3_25_ahrs("imu", imu_port,
     51  SetAhrs(new Gx3_25_ahrs("ahrs", imu_port,
    5252                          Gx3_25_imu::AccelerationAngularRateAndOrientationMatrix, 70));
    5353  SetBatteryMonitor(((BlCtrlV2 *)GetBldc())->GetBatteryMonitor());
     
    5757  if(useGps=="true") {
    5858    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));
     59    SetGps(new Mb800("gps",gps_port,(NmeaGps::NMEAFlags_t)(NmeaGps::GGA|NmeaGps::VTG|NmeaGps::GSA),40));
    6060  }
    6161}
     
    6767  ((Srf08 *)GetUsRangeFinder())->Start();
    6868  ((Ps3Eye *)GetVerticalCamera())->Start();
    69   ((Mb800 *)GetGps())->Start();
     69  if(GetGps()) ((Mb800 *)GetGps())->Start();
    7070}
    7171
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