Changeset 417 in flair-src for trunk/lib/FlairMeta/src/HdsX8.cpp


Ignore:
Timestamp:
04/15/21 08:48:48 (9 months ago)
Author:
Sanahuja Guillaume
Message:

define and use passthrough ahrs

File:
1 edited

Legend:

Unmodified
Added
Removed
  • 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 
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