C++ (Cpp) AP_InertialSensor::set_hil_mode示例

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();
}

示例#2

显示文件

文件： Replay.cpp 项目： sutherlandm/ardupilot

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();
}