mirror of
https://github.com/ArduPilot/ardupilot.git
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bd4d711e7f
in preparation for making this an optional feature; a lot of people will want to go and put this in their hwdef files as soon as we do this!
48 lines
825 B
C++
48 lines
825 B
C++
//
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// Simple test for the AP_AHRS interface
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//
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#include <AP_AHRS/AP_AHRS.h>
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#include <AP_HAL/AP_HAL.h>
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#include <AP_Module/AP_Module.h>
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#include <AP_GPS/AP_GPS.h>
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#include <AP_Baro/AP_Baro.h>
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#include <AP_ExternalAHRS/AP_ExternalAHRS.h>
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#include <GCS_MAVLink/GCS_Dummy.h>
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GCS_Dummy _gcs;
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void setup();
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void loop();
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const AP_HAL::HAL& hal = AP_HAL::get_HAL();
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// sensor declaration
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static AP_InertialSensor ins;
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#if AP_EXTERNAL_AHRS_ENABLED
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static AP_ExternalAHRS eAHRS;
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#endif // AP_EXTERNAL_AHRS_ENABLED
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static AP_GPS gps;
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static AP_Baro baro;
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static AP_SerialManager serial_manager;
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// choose which AHRS system to use
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static AP_AHRS ahrs{};
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void setup(void)
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{
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serial_manager.init();
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ins.init(100);
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baro.init();
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ahrs.init();
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gps.init();
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}
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void loop(void)
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{
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ahrs.update();
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}
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AP_HAL_MAIN();
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