2011-03-19 07:20:11 -03:00
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// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
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2011-02-24 01:56:59 -04:00
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2011-07-17 07:34:05 -03:00
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#if CLI_ENABLED == ENABLED
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2010-12-19 12:40:33 -04:00
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// These are function definitions so the Menu can be constructed before the functions
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// are defined below. Order matters to the compiler.
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2014-01-02 01:28:50 -04:00
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#if HIL_MODE == HIL_MODE_DISABLED
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2012-08-21 23:19:50 -03:00
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static int8_t test_baro(uint8_t argc, const Menu::arg *argv);
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2011-12-26 04:12:05 -04:00
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#endif
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2013-05-31 03:15:47 -03:00
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static int8_t test_compass(uint8_t argc, const Menu::arg *argv);
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static int8_t test_ins(uint8_t argc, const Menu::arg *argv);
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static int8_t test_optflow(uint8_t argc, const Menu::arg *argv);
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static int8_t test_relay(uint8_t argc, const Menu::arg *argv);
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2014-03-31 14:57:45 -03:00
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#if CONFIG_HAL_BOARD == HAL_BOARD_PX4 || CONFIG_HAL_BOARD == HAL_BOARD_VRBRAIN
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2013-05-31 03:15:47 -03:00
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static int8_t test_shell(uint8_t argc, const Menu::arg *argv);
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#endif
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2014-01-02 01:28:50 -04:00
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#if HIL_MODE == HIL_MODE_DISABLED
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2013-05-31 03:15:47 -03:00
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static int8_t test_sonar(uint8_t argc, const Menu::arg *argv);
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2013-03-19 22:35:50 -03:00
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#endif
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2010-12-19 12:40:33 -04:00
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// Creates a constant array of structs representing menu options
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// and stores them in Flash memory, not RAM.
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// User enters the string in the console to call the functions on the right.
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// See class Menu in AP_Coommon for implementation details
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const struct Menu::command test_menu_commands[] PROGMEM = {
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2014-01-02 01:28:50 -04:00
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#if HIL_MODE == HIL_MODE_DISABLED
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2013-05-25 00:21:29 -03:00
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{"baro", test_baro},
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2011-12-26 04:12:05 -04:00
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#endif
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2013-05-31 03:15:47 -03:00
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{"compass", test_compass},
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{"ins", test_ins},
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{"optflow", test_optflow},
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{"relay", test_relay},
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2014-03-31 14:57:45 -03:00
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#if CONFIG_HAL_BOARD == HAL_BOARD_PX4 || CONFIG_HAL_BOARD == HAL_BOARD_VRBRAIN
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2013-03-19 22:35:50 -03:00
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{"shell", test_shell},
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#endif
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2014-01-02 01:28:50 -04:00
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#if HIL_MODE == HIL_MODE_DISABLED
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2014-07-17 17:08:27 -03:00
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{"rangefinder", test_sonar},
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2013-05-31 03:15:47 -03:00
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#endif
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2010-12-19 12:40:33 -04:00
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};
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// A Macro to create the Menu
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MENU(test_menu, "test", test_menu_commands);
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2011-07-17 07:32:00 -03:00
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static int8_t
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2010-12-19 12:40:33 -04:00
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test_mode(uint8_t argc, const Menu::arg *argv)
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{
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2012-08-21 23:19:50 -03:00
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test_menu.run();
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return 0;
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2010-12-19 12:40:33 -04:00
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}
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2014-01-02 01:28:50 -04:00
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#if HIL_MODE == HIL_MODE_DISABLED
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2010-12-19 12:40:33 -04:00
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static int8_t
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2013-05-31 03:15:47 -03:00
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test_baro(uint8_t argc, const Menu::arg *argv)
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2012-02-10 02:21:30 -04:00
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{
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2013-05-31 03:15:47 -03:00
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int32_t alt;
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2012-08-21 23:19:50 -03:00
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print_hit_enter();
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2014-01-15 10:18:23 -04:00
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init_barometer(true);
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2012-08-21 23:19:50 -03:00
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while(1) {
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2013-05-31 03:15:47 -03:00
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delay(100);
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2014-10-22 04:07:10 -03:00
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read_barometer();
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2012-08-21 23:19:50 -03:00
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2014-08-13 10:54:41 -03:00
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if (!barometer.healthy()) {
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2013-05-31 03:15:47 -03:00
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cliSerial->println_P(PSTR("not healthy"));
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} else {
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cliSerial->printf_P(PSTR("Alt: %0.2fm, Raw: %f Temperature: %.1f\n"),
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2014-10-22 04:07:10 -03:00
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baro_alt / 100.0,
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2013-09-21 08:30:54 -03:00
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barometer.get_pressure(),
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barometer.get_temperature());
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2013-05-31 03:15:47 -03:00
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}
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2012-11-21 02:08:03 -04:00
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if(cliSerial->available() > 0) {
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2012-08-21 23:19:50 -03:00
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return (0);
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}
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}
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2013-05-31 03:15:47 -03:00
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return 0;
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2012-02-10 02:21:30 -04:00
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}
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2013-05-31 03:15:47 -03:00
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#endif
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2011-09-24 20:48:04 -03:00
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2011-11-12 23:51:43 -04:00
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static int8_t
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2013-05-31 03:15:47 -03:00
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test_compass(uint8_t argc, const Menu::arg *argv)
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2011-11-12 23:51:43 -04:00
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{
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2013-05-31 03:15:47 -03:00
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uint8_t delta_ms_fast_loop;
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2013-10-11 08:40:20 -03:00
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uint8_t medium_loopCounter = 0;
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2013-05-31 03:15:47 -03:00
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if (!g.compass_enabled) {
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cliSerial->printf_P(PSTR("Compass: "));
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print_enabled(false);
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return (0);
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}
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if (!compass.init()) {
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cliSerial->println_P(PSTR("Compass initialisation failed!"));
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return 0;
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}
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2011-11-12 23:51:43 -04:00
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2013-01-13 01:04:04 -04:00
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ahrs.init();
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2013-05-31 03:15:47 -03:00
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ahrs.set_fly_forward(true);
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ahrs.set_compass(&compass);
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report_compass();
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// we need the AHRS initialised for this test
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2012-11-29 07:56:54 -04:00
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ins.init(AP_InertialSensor::COLD_START,
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2013-09-19 05:33:21 -03:00
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ins_sample_rate);
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2013-05-31 03:15:47 -03:00
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ahrs.reset();
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int16_t counter = 0;
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float heading = 0;
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2011-11-12 23:51:43 -04:00
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2013-05-31 03:15:47 -03:00
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print_hit_enter();
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2011-11-12 23:51:43 -04:00
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2012-08-21 23:19:50 -03:00
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while(1) {
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2013-05-31 03:15:47 -03:00
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delay(20);
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if (millis() - fast_loopTimer > 19) {
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delta_ms_fast_loop = millis() - fast_loopTimer;
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G_Dt = (float)delta_ms_fast_loop / 1000.f; // used by DCM integrator
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fast_loopTimer = millis();
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2011-11-12 23:51:43 -04:00
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2013-05-31 03:15:47 -03:00
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// INS
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// ---
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ahrs.update();
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2012-07-18 15:14:13 -03:00
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2013-05-31 03:15:47 -03:00
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medium_loopCounter++;
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if(medium_loopCounter == 5) {
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if (compass.read()) {
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// Calculate heading
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const Matrix3f &m = ahrs.get_dcm_matrix();
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heading = compass.calculate_heading(m);
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2014-02-15 22:22:13 -04:00
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compass.learn_offsets();
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2013-05-31 03:15:47 -03:00
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}
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medium_loopCounter = 0;
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}
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counter++;
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if (counter>20) {
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2013-12-09 02:47:22 -04:00
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if (compass.healthy()) {
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2013-12-08 23:10:14 -04:00
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const Vector3f &mag_ofs = compass.get_offsets();
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const Vector3f &mag = compass.get_field();
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cliSerial->printf_P(PSTR("Heading: %ld, XYZ: %.0f, %.0f, %.0f,\tXYZoff: %6.2f, %6.2f, %6.2f\n"),
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(wrap_360_cd(ToDeg(heading) * 100)) /100,
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mag.x,
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mag.y,
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mag.z,
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mag_ofs.x,
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mag_ofs.y,
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mag_ofs.z);
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2013-05-31 03:15:47 -03:00
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} else {
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cliSerial->println_P(PSTR("compass not healthy"));
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}
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counter=0;
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}
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}
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if (cliSerial->available() > 0) {
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break;
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}
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}
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// save offsets. This allows you to get sane offset values using
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// the CLI before you go flying.
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cliSerial->println_P(PSTR("saving offsets"));
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compass.save_offsets();
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return (0);
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}
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2011-04-17 20:08:16 -03:00
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static int8_t
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2013-05-31 03:15:47 -03:00
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test_ins(uint8_t argc, const Menu::arg *argv)
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2011-04-17 20:08:16 -03:00
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{
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2013-05-31 03:15:47 -03:00
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Vector3f gyro, accel;
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2012-08-21 23:19:50 -03:00
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print_hit_enter();
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2013-05-31 03:15:47 -03:00
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cliSerial->printf_P(PSTR("INS\n"));
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delay(1000);
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ahrs.init();
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ins.init(AP_InertialSensor::COLD_START,
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2013-09-19 05:33:21 -03:00
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ins_sample_rate);
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2013-07-02 11:00:49 -03:00
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cliSerial->printf_P(PSTR("...done\n"));
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2013-05-31 03:15:47 -03:00
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delay(50);
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2012-08-21 23:19:50 -03:00
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while(1) {
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2013-05-31 03:15:47 -03:00
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ins.update();
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gyro = ins.get_gyro();
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accel = ins.get_accel();
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float test = accel.length() / GRAVITY_MSS;
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2013-07-02 11:00:49 -03:00
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cliSerial->printf_P(PSTR("a %7.4f %7.4f %7.4f g %7.4f %7.4f %7.4f t %7.4f \n"),
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2013-05-31 03:15:47 -03:00
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accel.x, accel.y, accel.z,
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gyro.x, gyro.y, gyro.z,
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test);
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2012-08-21 23:19:50 -03:00
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2013-05-31 03:15:47 -03:00
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delay(40);
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2012-11-21 02:08:03 -04:00
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if(cliSerial->available() > 0) {
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2012-08-21 23:19:50 -03:00
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return (0);
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}
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}
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2011-04-17 20:08:16 -03:00
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}
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2010-12-19 12:40:33 -04:00
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static int8_t
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2013-05-31 03:15:47 -03:00
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test_optflow(uint8_t argc, const Menu::arg *argv)
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2010-12-19 12:40:33 -04:00
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{
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2013-05-31 03:15:47 -03:00
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#if OPTFLOW == ENABLED
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2014-07-11 23:34:55 -03:00
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if(optflow.enabled()) {
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cliSerial->printf_P(PSTR("dev id: %d\t"),(int)optflow.device_id());
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2013-05-31 03:15:47 -03:00
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print_hit_enter();
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2011-02-17 05:36:33 -04:00
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2013-05-31 03:15:47 -03:00
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while(1) {
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delay(200);
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2013-10-23 08:42:03 -03:00
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optflow.update();
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2014-07-11 23:34:55 -03:00
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const Vector2i& raw = optflow.raw();
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2014-01-08 23:29:50 -04:00
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cliSerial->printf_P(PSTR("dx:%d\t dy:%d\t squal:%d\n"),
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2014-07-11 23:34:55 -03:00
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(int)raw.x,
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(int)raw.y,
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(int)optflow.quality());
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2011-02-17 05:36:33 -04:00
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2013-05-31 03:15:47 -03:00
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if(cliSerial->available() > 0) {
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return (0);
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}
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}
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} else {
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cliSerial->printf_P(PSTR("OptFlow: "));
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print_enabled(false);
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}
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2012-08-21 23:19:50 -03:00
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return (0);
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2013-05-31 03:15:47 -03:00
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#else
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return (0);
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#endif // OPTFLOW == ENABLED
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2010-12-19 12:40:33 -04:00
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}
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2013-05-31 03:15:47 -03:00
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static int8_t test_relay(uint8_t argc, const Menu::arg *argv)
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{
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2013-04-27 11:33:04 -03:00
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print_hit_enter();
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2013-05-31 03:15:47 -03:00
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delay(1000);
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2013-04-27 11:33:04 -03:00
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while(1) {
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2013-05-31 03:15:47 -03:00
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cliSerial->printf_P(PSTR("Relay on\n"));
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2014-01-19 23:54:21 -04:00
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relay.on(0);
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2013-05-31 03:15:47 -03:00
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delay(3000);
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if(cliSerial->available() > 0) {
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return (0);
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2013-04-27 11:33:04 -03:00
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}
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2013-05-31 03:15:47 -03:00
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cliSerial->printf_P(PSTR("Relay off\n"));
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2014-01-19 23:54:21 -04:00
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relay.off(0);
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2013-05-31 03:15:47 -03:00
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delay(3000);
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if(cliSerial->available() > 0) {
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return (0);
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2013-04-27 11:33:04 -03:00
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}
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}
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2013-05-31 03:15:47 -03:00
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}
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2013-04-27 11:33:04 -03:00
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2014-03-31 14:57:45 -03:00
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#if CONFIG_HAL_BOARD == HAL_BOARD_PX4 || CONFIG_HAL_BOARD == HAL_BOARD_VRBRAIN
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2013-05-31 03:15:47 -03:00
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/*
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* run a debug shell
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*/
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static int8_t
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test_shell(uint8_t argc, const Menu::arg *argv)
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{
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hal.util->run_debug_shell(cliSerial);
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return 0;
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2010-12-19 12:40:33 -04:00
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}
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2013-05-31 03:15:47 -03:00
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#endif
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2011-12-03 19:39:02 -04:00
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2014-01-02 01:28:50 -04:00
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#if HIL_MODE == HIL_MODE_DISABLED
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2011-03-17 22:50:27 -03:00
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/*
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2014-07-17 17:08:27 -03:00
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* test the rangefinders
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2011-03-17 22:50:27 -03:00
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*/
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2011-06-03 15:49:13 -03:00
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static int8_t
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2011-03-17 22:50:27 -03:00
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test_sonar(uint8_t argc, const Menu::arg *argv)
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{
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2013-03-18 01:40:43 -03:00
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#if CONFIG_SONAR == ENABLED
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2014-07-17 17:08:27 -03:00
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sonar.init();
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2011-12-23 18:14:19 -04:00
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2014-07-17 17:08:27 -03:00
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cliSerial->printf_P(PSTR("RangeFinder: %d devices detected\n"), sonar.num_sensors());
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2011-06-16 14:03:26 -03:00
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2012-08-21 23:19:50 -03:00
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print_hit_enter();
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while(1) {
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delay(100);
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2014-06-27 01:23:56 -03:00
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sonar.update();
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2014-07-17 17:08:27 -03:00
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|
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|
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cliSerial->printf_P(PSTR("Primary: health %d distance_cm %d \n"), (int)sonar.healthy(), sonar.distance_cm());
|
|
|
|
cliSerial->printf_P(PSTR("All: device_0 type %d health %d distance_cm %d, device_1 type %d health %d distance_cm %d\n"),
|
|
|
|
(int)sonar._type[0], (int)sonar.healthy(0), sonar.distance_cm(0), (int)sonar._type[1], (int)sonar.healthy(1), sonar.distance_cm(1));
|
2011-06-03 15:49:13 -03:00
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|
|
|
2012-11-21 02:08:03 -04:00
|
|
|
if(cliSerial->available() > 0) {
|
2012-08-21 23:19:50 -03:00
|
|
|
return (0);
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|
|
|
}
|
|
|
|
}
|
2013-03-18 01:40:43 -03:00
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|
|
#endif
|
2012-08-21 23:19:50 -03:00
|
|
|
return (0);
|
2011-03-17 22:50:27 -03:00
|
|
|
}
|
2011-12-26 04:12:05 -04:00
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|
|
#endif
|
2011-03-17 22:50:27 -03:00
|
|
|
|
2011-07-17 07:32:00 -03:00
|
|
|
static void print_hit_enter()
|
2010-12-19 12:40:33 -04:00
|
|
|
{
|
2012-11-21 02:08:03 -04:00
|
|
|
cliSerial->printf_P(PSTR("Hit Enter to exit.\n\n"));
|
2010-12-19 12:40:33 -04:00
|
|
|
}
|
2011-09-10 19:16:51 -03:00
|
|
|
|
2011-07-17 07:34:05 -03:00
|
|
|
#endif // CLI_ENABLED
|