Changeset 236 in flair-src for trunk/demos/PidStandalone
- Timestamp:
- Apr 12, 2018, 4:52:46 PM (7 years ago)
- Location:
- trunk/demos/PidStandalone
- Files:
-
- 22 added
- 4 deleted
- 4 edited
Legend:
- Unmodified
- Added
- Removed
-
trunk/demos/PidStandalone/simulator/src/main.cpp
r105 r236 18 18 #include <SimuImu.h> 19 19 #ifdef GL 20 #include <SimuCameraGL.h>21 20 #include <Parser.h> 22 21 #include <SimuUsGL.h> … … 97 96 #ifdef GL 98 97 SimuUsGL* us_gl; 99 100 SimuCameraGL *cam_bas;101 98 Parser *gui; 102 99 #endif … … 108 105 109 106 #ifdef GL 110 gui=new Parser( simu,960,480,640,480,media_path,scene_file);107 gui=new Parser(1024, 768, 1024, 768,media_path,scene_file); 111 108 #endif 112 109 113 110 if(type=="x4") 114 111 { 115 drone=new X4( simu,name,0);112 drone=new X4(name,0); 116 113 } 117 114 else 118 115 { 119 drone=new X8( simu,name,0);116 drone=new X8(name,0); 120 117 } 121 imu=new SimuImu(drone,"imu",0 );118 imu=new SimuImu(drone,"imu",0,0); 122 119 123 120 #ifdef GL 124 us_gl=new SimuUsGL(drone,"us",0); 125 cam_bas=new SimuCameraGL(drone,"bottom camera",320,240,640,0,0); 121 us_gl=new SimuUsGL(drone,"us",0,0); 126 122 #endif 127 123 -
trunk/demos/PidStandalone/uav/CMakeLists.txt
r105 r236 5 5 SET(FLAIR_USE_FILTER TRUE) 6 6 SET(FLAIR_USE_SENSOR_ACTUATOR TRUE) 7 SET(FLAIR_USE_VISION_FILTER TRUE) 7 8 SET(FLAIR_USE_META TRUE) 8 SET(FLAIR_USE_VRPN TRUE)9 9 10 10 include($ENV{FLAIR_ROOT}/flair-dev/cmake-modules/GlobalCmakeFlair.cmake) -
trunk/demos/PidStandalone/uav/src/PidUav.cpp
r105 r236 43 43 PidUav::PidUav(Uav *uav, TargetController *controller) 44 44 : behaviourMode(BehaviourMode_t::Default), 45 UavStateMachine( uav,controller) {45 UavStateMachine(controller) { 46 46 my_uRoll = new Pid(setupLawTab->At(1, 1), "custom uRoll"); 47 47 my_uRoll->UseDefaultPlot(graphLawTab->LastRowLastCol()); … … 107 107 const AhrsData *refOrientation = GetDefaultReferenceOrientation(); 108 108 Quaternion refQuaternion; 109 Vector3D refAngularRates;109 Vector3Df refAngularRates; 110 110 refOrientation->GetQuaternionAndAngularRates(refQuaternion, refAngularRates); 111 111 Euler refAngles = refQuaternion.ToEuler(); … … 113 113 const AhrsData *currentOrientation = GetDefaultOrientation(); 114 114 Quaternion currentQuaternion; 115 Vector3D currentAngularRates;115 Vector3Df currentAngularRates; 116 116 currentOrientation->GetQuaternionAndAngularRates(currentQuaternion, 117 117 currentAngularRates); -
trunk/demos/PidStandalone/uav/src/main.cpp
r105 r236 48 48 manager->SetupLogger(log_path); 49 49 50 Uav *drone = CreateUav( manager,name, uav_type);50 Uav *drone = CreateUav(name, uav_type); 51 51 TargetEthController *controller = 52 new TargetEthController( manager,"Dualshock3", 20000);52 new TargetEthController("Dualshock3", 20000); 53 53 // EmulatedController *controller=new EmulatedController(manager,"Emulated 54 54 // Controller");
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