Changeset 417 in flair-src for trunk/lib/FlairMeta/src/SimuX4.cpp

Timestamp:

04/15/21 08:48:48 (3 years ago)

Author:

Sanahuja Guillaume

Message:

define and use passthrough ahrs

File:

• trunk/lib/FlairMeta/src/SimuX4.cpp (modified) (2 diffs)

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"));