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Code Issues Releases Activity

OP-169: HiTL: Added AttitudeRaw UAVObject to HiTL core, updated UAVObject update timings

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git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1967 ebee16cc-31ac-478f-84a7-5cbb03baadba
This commit is contained in:
corvus 2010-10-16 18:25:21 +00:00 committed by corvus
parent 43beec24d6
commit ebae3ffa40
2 changed files with 6 additions and 2 deletions
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6
ground/src/plugins/hitlnew/simulator.cpp
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@ -121,6 +121,7 @@ void Simulator::onStart()
posActual = PositionActual::GetInstance(objManager);
altActual = BaroAltitude::GetInstance(objManager);
attActual = AttitudeActual::GetInstance(objManager);
attRaw = AttitudeRaw::GetInstance(objManager);
gpsPos = GPSPosition::GetInstance(objManager);
telStats = GCSTelemetryStats::GetInstance(objManager);
@ -202,13 +203,14 @@ void Simulator::receiveUpdate()
void Simulator::setupObjects()
{
setupInputObject(actDesired, 75);
setupInputObject(actDesired, 50);
setupOutputObject(altActual, 250);
setupOutputObject(attActual, 75);
setupOutputObject(attActual, 50);
setupOutputObject(gpsPos, 250);
setupOutputObject(posActual, 250);
setupOutputObject(velActual, 250);
setupOutputObject(posHome, 1000);
setupOutputObject(attRaw, 50);
}
void Simulator::setupInputObject(UAVObject* obj, int updatePeriod)

2
ground/src/plugins/hitlnew/simulator.h
View File

@ -43,6 +43,7 @@
#include "uavobjects/attitudeactual.h"
#include "uavobjects/gpsposition.h"
#include "uavobjects/homelocation.h"
#include "uavobjects/attituderaw.h"
#include "uavobjects/gcstelemetrystats.h"
#include "utils/coordinateconversions.h"
@ -152,6 +153,7 @@ protected:
VelocityActual* velActual;
PositionActual* posActual;
HomeLocation* posHome;
AttitudeRaw* attRaw;
GPSPosition* gpsPos;
GCSTelemetryStats* telStats;