ardupilot/libraries/AP_RPM/examples/RPM_generic/RPM_generic.cpp

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2016-04-22 04:04:43 -03:00
/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
/*
This program is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation, either version 3 of the License, or
(at your option) any later version.
This program is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with this program. If not, see <http://www.gnu.org/licenses/>.
*/
/*
* RPM_generic.cpp - RPM library example sketch
*
*/
#include <AP_RPM/AP_RPM.h>
#include <AP_HAL/AP_HAL.h>
const AP_HAL::HAL& hal = AP_HAL::get_HAL();
static AP_RPM RPM;
char sensor_state;
void setup()
{
hal.console->println("APM RPM library test\n\n");
RPM.init();
hal.console->printf("Detected %u RPM sensors\n\n", RPM.num_sensors());
}
void loop(void)
{
RPM.update();
for (uint8_t ii = 0; ii<RPM.num_sensors(); ii++) {
// Determine sensor state
if (RPM.healthy(ii)) {
// Healthy sensor
sensor_state = 'h';
} else if (RPM.enabled(ii)) {
// Enabled but not healthy
sensor_state = 'e';
} else {
// Not enabled, not healthy
sensor_state = '-';
}
hal.console->printf("%u - (%c) RPM: %8.2f Quality: %.2f ",
ii, sensor_state, RPM.get_rpm(ii), RPM.get_signal_quality(ii));
if (ii+1<RPM.num_sensors()) {
// Print a seperating bar if more sensors to process
hal.console->printf("| ");
}
}
hal.scheduler->delay(100);
hal.console->printf("\n");
}
AP_HAL_MAIN();