From 56b0e9dac3bb0ff99c5a7b06c41b59b620937c69 Mon Sep 17 00:00:00 2001
From: Soo-Hyun Yoo <yoos117@gmail.com>
Date: Mon, 9 Feb 2015 23:08:33 -0800
Subject: [PATCH] refs #17 Add thermistor as optional peripheral.

---
 src/estimator/world_estimator.cpp        | 2 +-
 src/estimator/world_estimator.hpp        | 5 +++--
 src/system/multirotor_vehicle_system.cpp | 2 +-
 src/system/multirotor_vehicle_system.hpp | 2 ++
 variants/units/helios/unit_data.hpp      | 2 +-
 5 files changed, 8 insertions(+), 5 deletions(-)

diff --git a/src/estimator/world_estimator.cpp b/src/estimator/world_estimator.cpp
index 952331c..549b210 100644
--- a/src/estimator/world_estimator.cpp
+++ b/src/estimator/world_estimator.cpp
@@ -9,7 +9,7 @@ WorldEstimator::WorldEstimator(Communicator& communicator)
   : worldMessageStream(communicator, 10) {
 }
 
-WorldEstimate WorldEstimator::update(GPSReading& gpsReading) {
+WorldEstimate WorldEstimator::update(const SensorReadingGroup& readings) {
   // TODO: get GPS data
 
   WorldEstimate estimate {
diff --git a/src/estimator/world_estimator.hpp b/src/estimator/world_estimator.hpp
index 5f8fb57..06ddb5a 100644
--- a/src/estimator/world_estimator.hpp
+++ b/src/estimator/world_estimator.hpp
@@ -3,10 +3,11 @@
 
 #include "communication/communicator.hpp"
 #include "communication/rate_limited_stream.hpp"
-#include "sensor/gps.hpp"
+#include "estimator/attitude_estimator.hpp"
 
 struct WorldEstimate {
   float globe_loc[3];
+  float therm;
 };
 
 class WorldEstimator {
@@ -19,7 +20,7 @@ class WorldEstimator {
    *
    * TODO(yoos): Consolidate with attitude estimator.
    */
-  virtual WorldEstimate update(GPSReading& gpsReading);
+  virtual WorldEstimate update(const SensorReadingGroup& readings);
 
 private:
   RateLimitedStream worldMessageStream;
diff --git a/src/system/multirotor_vehicle_system.cpp b/src/system/multirotor_vehicle_system.cpp
index 73b1d73..6533ae3 100644
--- a/src/system/multirotor_vehicle_system.cpp
+++ b/src/system/multirotor_vehicle_system.cpp
@@ -45,7 +45,7 @@ void MultirotorVehicleSystem::update() {
   if (i++ % 100 == 0) {
     gpsReading = gps.readGPS();
     if (thermistor) {
-      thermReading = (*therm)->readTherm();
+      thermReading = (*thermistor)->readTherm();
     }
   }
 
diff --git a/src/system/multirotor_vehicle_system.hpp b/src/system/multirotor_vehicle_system.hpp
index 8c2d097..0ada496 100644
--- a/src/system/multirotor_vehicle_system.hpp
+++ b/src/system/multirotor_vehicle_system.hpp
@@ -36,6 +36,7 @@ class MultirotorVehicleSystem : public VehicleSystem, public MessageListener {
       Accelerometer& accelerometer,
       GPS& gps,
       optional<Magnetometer *> magnetometer, // TODO: Use reference_wrapper?
+      optional<Thermistor *> thermistor,
       WorldEstimator& world,
       AttitudeEstimator& attitude,
       InputSource& inputSource,
@@ -51,6 +52,7 @@ class MultirotorVehicleSystem : public VehicleSystem, public MessageListener {
   Accelerometer& accelerometer;
   GPS& gps;
   optional<Magnetometer *> magnetometer;
+  optional<Thermistor *> thermistor;
 
   WorldEstimator& world;
   AttitudeEstimator& attitude;
diff --git a/variants/units/helios/unit_data.hpp b/variants/units/helios/unit_data.hpp
index 20061f5..f104d7e 100644
--- a/variants/units/helios/unit_data.hpp
+++ b/variants/units/helios/unit_data.hpp
@@ -38,7 +38,7 @@ struct UnitData {
       world(communicator),
       attitude(communicator),
       inputSource(communicator),
-      system(platform.get<Gyroscope>(), platform.get<Accelerometer>(), platform.get<GPS>(), std::experimental::nullopt, world, attitude, inputSource, motorMapper, communicator) {
+      system(platform.get<Gyroscope>(), platform.get<Accelerometer>(), platform.get<GPS>(), std::experimental::nullopt, std::experimental::nullopt, world, attitude, inputSource, motorMapper, communicator) {
   }
 };