Changeset 417 in flair-src for trunk/lib/FlairMeta/src

Timestamp:

Apr 15, 2021, 8:48:48 AM (4 years ago)

Author:

Sanahuja Guillaume

Message:

define and use passthrough ahrs

Location:

trunk/lib/FlairMeta/src

Files:

• HdsX8.cpp (modified) (2 diffs)
• SimuX4.cpp (modified) (2 diffs)
• SimuX8.cpp (modified) (2 diffs)
• XAir.cpp (modified) (2 diffs)

trunk/lib/FlairMeta/src/HdsX8.cpp

@@ -22 +22 @@
 #include <RTDM_SerialPort.h>
 #include <Srf08.h>
-#include <Gx3_25_ahrs.h>
+#include <PassthroughAhrs.h>
+#include <Gx3_25_imu.h>
 #include <BlCtrlV2.h>
 #include <X4X8Multiplex.h>
@@ -50 +51 @@
                        "motors", GetUavMultiplex()->MotorsCount(), i2cport));
   SetUsRangeFinder(new Srf08("SRF08", i2cport, 0x70, 60));
-  SetAhrs(new Gx3_25_ahrs("ahrs", imu_port,
-                          Gx3_25_imu::AccelerationAngularRateAndOrientationMatrix, 70));
+ 
+  SetAhrs(new PassthroughAhrs(new Gx3_25_imu("imu",imu_port,Gx3_25_imu::AccelerationAngularRateAndOrientationMatrix, 70),"ahrs"));
   SetBatteryMonitor(((BlCtrlV2 *)GetBldc())->GetBatteryMonitor());
   

trunk/lib/FlairMeta/src/SimuX4.cpp

@@ -21 +21 @@
 #include <X4X8Multiplex.h>
 #include <SimulatedImu.h>
-#include <SimulatedAhrs.h>
+#include <PassthroughAhrs.h>
 #include <SimulatedBldc.h>
 #include <SimulatedUs.h>
@@ -51 +51 @@
                        "motors", GetUavMultiplex()->MotorsCount(), simu_id,0));
   SetUsRangeFinder(new SimulatedUs("us", simu_id,0, 60));
-  SetAhrs(new SimulatedAhrs("ahrs", simu_id, 0,70));
+  SetAhrs(new PassthroughAhrs(new SimulatedImu("imu", simu_id,0, 70),"ahrs"));
   Tab *bat_tab = new Tab(getFrameworkManager()->GetTabWidget(), "battery");
   SetBatteryMonitor(new BatteryMonitor(bat_tab->NewRow(), "battery"));

trunk/lib/FlairMeta/src/SimuX8.cpp

@@ -21 +21 @@
 #include <X4X8Multiplex.h>
 #include <SimulatedImu.h>
-#include <SimulatedAhrs.h>
+#include <PassthroughAhrs.h>
 #include <SimulatedBldc.h>
 #include <SimulatedUs.h>
@@ -51 +51 @@
                        "motors", GetUavMultiplex()->MotorsCount(), simu_id,0));
   SetUsRangeFinder(new SimulatedUs("us", simu_id,0, 60));
-  SetAhrs(new SimulatedAhrs("ahrs", simu_id, 0,70));
+  SetAhrs(new PassthroughAhrs(new SimulatedImu("imu", simu_id,0, 70),"ahrs"));
   Tab *bat_tab = new Tab(getFrameworkManager()->GetTabWidget(), "battery");
   SetBatteryMonitor(new BatteryMonitor(bat_tab->NewRow(), "battery"));

trunk/lib/FlairMeta/src/XAir.cpp

@@ -22 +22 @@
 #include <RTDM_SerialPort.h>
 #include <Srf08.h>
-#include <Gx3_25_ahrs.h>
+#include <PassthroughAhrs.h>
+#include <Gx3_25_imu.h>
 #include <AfroBldc.h>
 #include <X4X8Multiplex.h>
@@ -51 +52 @@
                        "motors", GetUavMultiplex()->MotorsCount(), i2cport));
   SetUsRangeFinder(new Srf08("SRF08", i2cport, 0x70, 60));
-  SetAhrs(new Gx3_25_ahrs("imu", imu_port,
-                          Gx3_25_imu::AccelerationAngularRateAndOrientationMatrix, 70));
+  SetAhrs(new PassthroughAhrs(new Gx3_25_imu("imu",imu_port,Gx3_25_imu::AccelerationAngularRateAndOrientationMatrix, 70),"ahrs"));
+  
   Tab *bat_tab = new Tab(getFrameworkManager()->GetTabWidget(), "battery");
   SetBatteryMonitor(new BatteryMonitor(bat_tab->NewRow(), "battery"));