2012-07-15 22:21:20 -03:00
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/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
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2013-08-29 02:34:34 -03:00
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/*
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This program is free software: you can redistribute it and/or modify
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it under the terms of the GNU General Public License as published by
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the Free Software Foundation, either version 3 of the License, or
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(at your option) any later version.
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This program is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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GNU General Public License for more details.
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You should have received a copy of the GNU General Public License
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along with this program. If not, see <http://www.gnu.org/licenses/>.
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*/
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2012-07-15 22:21:20 -03:00
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/*
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2012-08-17 03:08:43 -03:00
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* Airspeed.pde - airspeed example sketch
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*
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*/
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2012-07-15 22:21:20 -03:00
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#include <AP_Common.h>
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2012-10-27 00:55:17 -03:00
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#include <AP_Progmem.h>
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2012-08-20 20:22:44 -03:00
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#include <AP_Param.h>
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2012-07-15 22:21:20 -03:00
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#include <AP_Math.h>
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2012-10-09 21:01:22 -03:00
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#include <AP_HAL.h>
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#include <AP_HAL_AVR.h>
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2013-09-28 05:40:29 -03:00
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#include <AP_HAL_Linux.h>
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#include <AP_HAL_Empty.h>
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2013-07-15 01:10:27 -03:00
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#include <AP_ADC.h>
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#include <AP_ADC_AnalogSource.h>
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2012-07-15 22:21:20 -03:00
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#include <Filter.h>
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2012-11-07 11:08:18 -04:00
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#include <AP_Buffer.h>
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2012-07-15 22:21:20 -03:00
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#include <AP_Airspeed.h>
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2013-09-12 22:45:57 -03:00
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#include <AP_Vehicle.h>
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2013-08-29 02:04:08 -03:00
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#include <AP_Notify.h>
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2014-02-14 03:34:10 -04:00
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#include <AP_Compass.h>
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#include <AP_Declination.h>
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#include <AP_AHRS.h>
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2014-07-25 04:08:01 -03:00
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#include <AP_NavEKF.h>
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#include <AP_Terrain.h>
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2013-08-29 02:04:08 -03:00
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#include <DataFlash.h>
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2014-01-29 22:33:29 -04:00
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#include <AP_Baro.h>
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2013-08-29 02:04:08 -03:00
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#include <GCS_MAVLink.h>
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2014-03-18 19:35:15 -03:00
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#include <AP_Mission.h>
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2014-08-13 08:46:09 -03:00
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#include <StorageManager.h>
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2014-07-25 04:54:11 -03:00
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#include <AP_Terrain.h>
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2013-08-29 02:04:08 -03:00
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#include <AP_GPS.h>
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#include <AP_InertialSensor.h>
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2012-07-15 22:21:20 -03:00
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2013-07-15 01:10:27 -03:00
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#if CONFIG_HAL_BOARD == HAL_BOARD_APM1
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AP_ADC_ADS7844 apm1_adc;
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#endif
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2012-12-18 21:26:58 -04:00
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const AP_HAL::HAL& hal = AP_HAL_BOARD_DRIVER;
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2012-07-15 22:21:20 -03:00
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2013-09-12 22:45:57 -03:00
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static AP_Vehicle::FixedWing aparm;
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AP_Airspeed airspeed(aparm);
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2012-07-15 22:21:20 -03:00
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void setup()
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{
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2012-10-09 21:01:22 -03:00
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hal.console->println("ArduPilot Airspeed library test");
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2012-07-15 22:21:20 -03:00
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2014-07-25 04:08:01 -03:00
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AP_Param::set_object_value(&airspeed, airspeed.var_info, "_PIN", 65);
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2013-06-25 10:45:30 -03:00
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airspeed.init();
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2014-11-13 06:12:37 -04:00
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airspeed.calibrate(false);
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2012-07-15 22:21:20 -03:00
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}
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void loop(void)
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{
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2012-08-17 03:08:43 -03:00
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static uint32_t timer;
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2012-10-09 21:01:22 -03:00
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if((hal.scheduler->millis() - timer) > 100) {
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timer = hal.scheduler->millis();
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2012-08-17 03:08:43 -03:00
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airspeed.read();
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2012-10-09 21:01:22 -03:00
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hal.console->printf("airspeed %.2f\n", airspeed.get_airspeed());
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2012-08-17 03:08:43 -03:00
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}
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2013-09-28 05:40:29 -03:00
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hal.scheduler->delay(1);
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2012-07-15 22:21:20 -03:00
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}
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2012-10-09 21:01:22 -03:00
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AP_HAL_MAIN();
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