Changeset 236 in flair-src for trunk/demos/PidStandalone

Timestamp:

Apr 12, 2018, 4:52:46 PM (7 years ago)

Author:

Sanahuja Guillaume

Message:

change build directories for new architecture

Location:

trunk/demos/PidStandalone

Files:

• simulator/build_arm (deleted)
• simulator/build_armv5te (added)
• simulator/build_armv5te/bin (added)
• simulator/build_armv7a_neon (added)
• simulator/build_armv7a_neon/bin (added)
• simulator/build_core2_64 (added)
• simulator/build_core2_64/bin (added)
• simulator/build_core2_64/bin/setup_x4.xml (added)
• simulator/build_core2_64/bin/setup_x8.xml (added)
• simulator/build_core2_64/bin/simulator_x4.sh (added)
• simulator/build_core2_64/bin/simulator_x8.sh (added)
• simulator/build_x86_64 (deleted)
• simulator/src/main.cpp (modified) (3 diffs)
• uav/CMakeLists.txt (modified) (1 diff)
• uav/build_arm (deleted)
• uav/build_armv5te (added)
• uav/build_armv5te/bin (added)
• uav/build_armv7a_neon (added)
• uav/build_armv7a_neon/bin (added)
• uav/build_armv7a_neon/bin/demo_pid_ardrone2.sh (added)
• uav/build_armv7a_neon/bin/reglages_ardrone2.xml (added)
• uav/build_core2_64 (added)
• uav/build_core2_64/bin (added)
• uav/build_core2_64/bin/setup_x4.xml (added)
• uav/build_core2_64/bin/setup_x8.xml (added)
• uav/build_core2_64/bin/x4.sh (added)
• uav/build_core2_64/bin/x8.sh (added)
• uav/build_x86_64 (deleted)
• uav/src/PidUav.cpp (modified) (3 diffs)
• uav/src/main.cpp (modified) (1 diff)

trunk/demos/PidStandalone/simulator/src/main.cpp

@@ -18 +18 @@
 #include <SimuImu.h>
 #ifdef GL
-#include <SimuCameraGL.h>
 #include <Parser.h>
 #include <SimuUsGL.h>
@@ -97 +96 @@
 #ifdef GL
     SimuUsGL* us_gl;
-
-    SimuCameraGL *cam_bas;
     Parser *gui;
 #endif
@@ -108 +105 @@
 
 #ifdef GL
-    gui=new Parser(simu,960,480,640,480,media_path,scene_file);
+    gui=new Parser(1024, 768, 1024, 768,media_path,scene_file);
 #endif
 
     if(type=="x4")
     {
-        drone=new X4(simu,name,0);
+        drone=new X4(name,0);
     }
     else
     {
-        drone=new X8(simu,name,0);
+        drone=new X8(name,0);
     }
-    imu=new SimuImu(drone,"imu",0);
+    imu=new SimuImu(drone,"imu",0,0);
 
 #ifdef GL
-    us_gl=new SimuUsGL(drone,"us",0);
-    cam_bas=new SimuCameraGL(drone,"bottom camera",320,240,640,0,0);
+    us_gl=new SimuUsGL(drone,"us",0,0);
 #endif
 

trunk/demos/PidStandalone/uav/CMakeLists.txt

@@ -5 +5 @@
 SET(FLAIR_USE_FILTER TRUE)
 SET(FLAIR_USE_SENSOR_ACTUATOR TRUE)
+SET(FLAIR_USE_VISION_FILTER TRUE)
 SET(FLAIR_USE_META TRUE)
-SET(FLAIR_USE_VRPN TRUE)
 
 include($ENV{FLAIR_ROOT}/flair-dev/cmake-modules/GlobalCmakeFlair.cmake)

trunk/demos/PidStandalone/uav/src/PidUav.cpp

@@ -43 +43 @@
 PidUav::PidUav(Uav *uav, TargetController *controller)
     : behaviourMode(BehaviourMode_t::Default),
-      UavStateMachine(uav, controller) {
+      UavStateMachine(controller) {
   my_uRoll = new Pid(setupLawTab->At(1, 1), "custom uRoll");
   my_uRoll->UseDefaultPlot(graphLawTab->LastRowLastCol());
@@ -107 +107 @@
   const AhrsData *refOrientation = GetDefaultReferenceOrientation();
   Quaternion refQuaternion;
-  Vector3D refAngularRates;
+  Vector3Df refAngularRates;
   refOrientation->GetQuaternionAndAngularRates(refQuaternion, refAngularRates);
   Euler refAngles = refQuaternion.ToEuler();
@@ -113 +113 @@
   const AhrsData *currentOrientation = GetDefaultOrientation();
   Quaternion currentQuaternion;
-  Vector3D currentAngularRates;
+  Vector3Df currentAngularRates;
   currentOrientation->GetQuaternionAndAngularRates(currentQuaternion,
                                                    currentAngularRates);

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

@@ -48 +48 @@
   manager->SetupLogger(log_path);
 
-  Uav *drone = CreateUav(manager, name, uav_type);
+  Uav *drone = CreateUav(name, uav_type);
   TargetEthController *controller =
-      new TargetEthController(manager, "Dualshock3", 20000);
+      new TargetEthController("Dualshock3", 20000);
   // EmulatedController *controller=new EmulatedController(manager,"Emulated
   // Controller");