Changeset 417 in flair-src


Ignore:
Timestamp:
Apr 15, 2021, 8:48:48 AM (4 years ago)
Author:
Sanahuja Guillaume
Message:

define and use passthrough ahrs

Location:
trunk/lib
Files:
2 added
6 deleted
5 edited

Legend:

Unmodified
Added
Removed

  • trunk/lib/FlairIpc/src/IpcX4.cpp

    r397 r417  
    1919#include <IpcBldc.h>
    2020#include <IpcUs.h>
    21 #include <IpcAhrs.h>
     21#include <PassthroughAhrs.h>
    2222#include <IpcImu.h>
    2323#include <BatteryMonitor.h>
    … …  
    4949  SetUsRangeFinder(new IpcUs("us", 70, "altitude", 65));
    5050 
    51   SetAhrs(new IpcAhrs("ahrs",70,"imu",65));
     51  SetAhrs(new PassthroughAhrs(new IpcImu("imu",70,"imu",65),"ahrs"));
    5252
    5353  Tab *bat_tab = new Tab(getFrameworkManager()->GetTabWidget(), "battery");

  • trunk/lib/FlairMeta/src/HdsX8.cpp

    r403 r417  
    2222#include <RTDM_SerialPort.h>
    2323#include <Srf08.h>
    24 #include <Gx3_25_ahrs.h>
     24#include <PassthroughAhrs.h>
     25#include <Gx3_25_imu.h>
    2526#include <BlCtrlV2.h>
    2627#include <X4X8Multiplex.h>
    … …  
    5051                       "motors", GetUavMultiplex()->MotorsCount(), i2cport));
    5152  SetUsRangeFinder(new Srf08("SRF08", i2cport, 0x70, 60));
    52   SetAhrs(new Gx3_25_ahrs("ahrs", imu_port,
    53                           Gx3_25_imu::AccelerationAngularRateAndOrientationMatrix, 70));
     53 
     54  SetAhrs(new PassthroughAhrs(new Gx3_25_imu("imu",imu_port,Gx3_25_imu::AccelerationAngularRateAndOrientationMatrix, 70),"ahrs"));
    5455  SetBatteryMonitor(((BlCtrlV2 *)GetBldc())->GetBatteryMonitor());
    5556 

  • trunk/lib/FlairMeta/src/SimuX4.cpp

    r286 r417  
    2121#include <X4X8Multiplex.h>
    2222#include <SimulatedImu.h>
    23 #include <SimulatedAhrs.h>
     23#include <PassthroughAhrs.h>
    2424#include <SimulatedBldc.h>
    2525#include <SimulatedUs.h>
    … …  
    5151                       "motors", GetUavMultiplex()->MotorsCount(), simu_id,0));
    5252  SetUsRangeFinder(new SimulatedUs("us", simu_id,0, 60));
    53   SetAhrs(new SimulatedAhrs("ahrs", simu_id, 0,70));
     53  SetAhrs(new PassthroughAhrs(new SimulatedImu("imu", simu_id,0, 70),"ahrs"));
    5454  Tab *bat_tab = new Tab(getFrameworkManager()->GetTabWidget(), "battery");
    5555  SetBatteryMonitor(new BatteryMonitor(bat_tab->NewRow(), "battery"));

  • trunk/lib/FlairMeta/src/SimuX8.cpp

    r286 r417  
    2121#include <X4X8Multiplex.h>
    2222#include <SimulatedImu.h>
    23 #include <SimulatedAhrs.h>
     23#include <PassthroughAhrs.h>
    2424#include <SimulatedBldc.h>
    2525#include <SimulatedUs.h>
    … …  
    5151                       "motors", GetUavMultiplex()->MotorsCount(), simu_id,0));
    5252  SetUsRangeFinder(new SimulatedUs("us", simu_id,0, 60));
    53   SetAhrs(new SimulatedAhrs("ahrs", simu_id, 0,70));
     53  SetAhrs(new PassthroughAhrs(new SimulatedImu("imu", simu_id,0, 70),"ahrs"));
    5454  Tab *bat_tab = new Tab(getFrameworkManager()->GetTabWidget(), "battery");
    5555  SetBatteryMonitor(new BatteryMonitor(bat_tab->NewRow(), "battery"));

  • trunk/lib/FlairMeta/src/XAir.cpp

    r403 r417  
    2222#include <RTDM_SerialPort.h>
    2323#include <Srf08.h>
    24 #include <Gx3_25_ahrs.h>
     24#include <PassthroughAhrs.h>
     25#include <Gx3_25_imu.h>
    2526#include <AfroBldc.h>
    2627#include <X4X8Multiplex.h>
    … …  
    5152                       "motors", GetUavMultiplex()->MotorsCount(), i2cport));
    5253  SetUsRangeFinder(new Srf08("SRF08", i2cport, 0x70, 60));
    53   SetAhrs(new Gx3_25_ahrs("imu", imu_port,
    54                           Gx3_25_imu::AccelerationAngularRateAndOrientationMatrix, 70));
     54  SetAhrs(new PassthroughAhrs(new Gx3_25_imu("imu",imu_port,Gx3_25_imu::AccelerationAngularRateAndOrientationMatrix, 70),"ahrs"));
     55 
    5556  Tab *bat_tab = new Tab(getFrameworkManager()->GetTabWidget(), "battery");
    5657  SetBatteryMonitor(new BatteryMonitor(bat_tab->NewRow(), "battery"));
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