void ReplayVehicle::setup(void)
{
load_parameters();
// we pass zero log structures, as we will be outputting the log
// structures we need manually, to prevent FMT duplicates
dataflash.Init(log_structure, 0);
dataflash.StartNewLog();
ahrs.set_compass(&compass);
ahrs.set_fly_forward(true);
ahrs.set_wind_estimation(true);
ahrs.set_correct_centrifugal(true);
ahrs.set_ekf_use(true);
EKF2.set_enable(true);
printf("Starting disarmed\n");
hal.util->set_soft_armed(false);
barometer.init();
barometer.setHIL(0);
barometer.update();
compass.init();
ins.set_hil_mode();
}
void setup(void)
{
ins.init(100);
ahrs.init();
serial_manager.init();
if( compass.init() ) {
hal.console->printf("Enabling compass\n");
ahrs.set_compass(&compass);
} else {
hal.console->printf("No compass detected\n");
}
gps.init(NULL, serial_manager);
}
void setup() {
hal.console->println("Compass library test");
if (!compass.init()) {
hal.console->println("compass initialisation failed!");
while (1) ;
}
hal.console->printf("init done - %u compasses detected\n", compass.get_count());
compass.set_and_save_offsets(0,0,0,0); // set offsets to account for surrounding interference
compass.set_declination(ToRad(0.0f)); // set local difference between magnetic north and true north
hal.scheduler->delay(1000);
timer = AP_HAL::micros();
}
// to be called only once on boot for initializing objects
static void setup()
{
hal.console->printf("Compass library test\n");
board_config.init();
vehicle.ahrs.init();
compass.init();
hal.console->printf("init done - %u compasses detected\n", compass.get_count());
// set offsets to account for surrounding interference
compass.set_and_save_offsets(0, Vector3f(0, 0, 0));
// set local difference between magnetic north and true north
compass.set_declination(ToRad(0.0f));
hal.scheduler->delay(1000);
timer = AP_HAL::micros();
}
void ReplayVehicle::setup(void) {
dataflash.Init(log_structure, sizeof(log_structure)/sizeof(log_structure[0]));
dataflash.StartNewLog();
ahrs.set_compass(&compass);
ahrs.set_fly_forward(true);
ahrs.set_wind_estimation(true);
ahrs.set_correct_centrifugal(true);
ahrs.set_ekf_use(true);
printf("Starting disarmed\n");
hal.util->set_soft_armed(false);
barometer.init();
barometer.setHIL(0);
barometer.update();
compass.init();
ins.set_hil_mode();
}
void setup(void)
{
#ifdef APM2_HARDWARE
// we need to stop the barometer from holding the SPI bus
hal.gpio->pinMode(40, HAL_HAL_GPIO_OUTPUT);
hal.gpio->write(40, HIGH);
#endif
ins.init(AP_InertialSensor::RATE_100HZ);
ahrs.init();
serial_manager.init();
if( compass.init() ) {
hal.console->printf("Enabling compass\n");
ahrs.set_compass(&compass);
} else {
hal.console->printf("No compass detected\n");
}
gps.init(NULL, serial_manager);
}
