void sensors_init(){
enableObstSens();
enableGroundSens();
initCompass();
sensor_sensorReadings.last_position_index = -1;
internal_values.analog_sensors_updated = NO;
internal_values.num_readings = 0;
internal_values.initial_compas_offset = 0.0;
internal_values.initilisation_done = false;
internal_values.sensor_readings_offset.beaconSensor.isVisible = false;
internal_values.sensor_readings_offset.beaconSensor.apsolute_direction = 0;
internal_values.sensor_readings_offset.beaconSensor.relative_direction = 0;
internal_values.sensor_readings_offset.groundSensor = 0;
internal_values.sensor_readings_offset.obstacleSensor.front = 0;
internal_values.sensor_readings_offset.obstacleSensor.left = 0;
internal_values.sensor_readings_offset.obstacleSensor.right = 0;
internal_values.sensor_readings_offset.positionSensor.x = 0;
internal_values.sensor_readings_offset.positionSensor.y = 0;
internal_values.sensor_readings_offset.positionSensor.t = 0;
refresh_buffer();
refresh_buffer();
refresh_buffer();
refresh_buffer();
internal_values.initial_compas_offset = -sensor_filteredSensorReadings.positionSensor.compass_direction;
refresh_buffer();
internal_values.initilisation_done = true;
}
/* init filter --------------------------------------------------------------*/
void initFilterACC(vs32 * gyroAngle, vs32 * copterAngle)
{
// setup compass only if HW_Setup is 4
if (getParameter(PARA_HW) & PARA_HW_COMP)
{
initCompass();
}
zeroGyro();
setAngleFilterACC(gyroAngle, copterAngle);
}
/*!
\brief Constructor
\param parent Parent widget
\param name Object name
Create a compass widget with a scale, no needle and no rose.
The default origin is 270.0 with no valid value. It accepts
mouse and keyboard inputs and has no step size. The default mode
is QwtDial::RotateNeedle.
*/
QwtCompass::QwtCompass(QWidget* parent, const char *name):
QwtDial(parent, name)
{
initCompass();
}
/*!
\brief Constructor
\param parent Parent widget
Create a compass widget with a scale, no needle and no rose.
The default origin is 270.0 with no valid value. It accepts
mouse and keyboard inputs and has no step size. The default mode
is QwtDial::RotateNeedle.
*/
QwtCompass::QwtCompass(QWidget* parent):
QwtDial(parent)
{
initCompass();
}
void initSensors() { //called by initializeAPI()
initCompass();
initIRSeeker();
}
