ardupilot/libraries/AP_RangeFinder/examples/RFIND_test/RFIND_test.cpp

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/*
* RangeFinder test code
*/
#include <AP_HAL/AP_HAL.h>
#include <AP_RangeFinder/AP_RangeFinder_Backend.h>
2022-08-18 22:56:22 -03:00
#include <GCS_MAVLink/GCS_Dummy.h>
const struct AP_Param::GroupInfo GCS_MAVLINK_Parameters::var_info[] = {
AP_GROUPEND
};
GCS_Dummy _gcs;
void setup();
void loop();
const AP_HAL::HAL& hal = AP_HAL::get_HAL();
static AP_SerialManager serial_manager;
static RangeFinder sonar;
void setup()
{
// print welcome message
hal.console->printf("Range Finder library test\n");
// setup for analog pin 13
AP_Param::set_object_value(&sonar, sonar.var_info, "_TYPE", (uint8_t)RangeFinder::Type::PLI2C);
AP_Param::set_object_value(&sonar, sonar.var_info, "_PIN", -1.0f);
AP_Param::set_object_value(&sonar, sonar.var_info, "_SCALING", 1.0f);
// initialise sensor, delaying to make debug easier
hal.scheduler->delay(2000);
sonar.init(ROTATION_PITCH_270);
hal.console->printf("RangeFinder: %d devices detected\n", sonar.num_sensors());
}
void loop()
{
// Delay between reads
hal.scheduler->delay(100);
sonar.update();
bool had_data = false;
for (uint8_t i=0; i<sonar.num_sensors(); i++) {
AP_RangeFinder_Backend *sensor = sonar.get_backend(i);
if (sensor == nullptr) {
continue;
}
if (!sensor->has_data()) {
continue;
}
hal.console->printf("All: device_%u type %d status %d distance_cm %d\n",
i,
(int)sensor->type(),
(int)sensor->status(),
sensor->distance_cm());
had_data = true;
}
if (!had_data) {
hal.console->printf("All: no data on any sensor\n");
}
}
AP_HAL_MAIN();