2012-04-30 04:17:14 -03:00
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// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
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2015-05-13 00:16:45 -03:00
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#include "Rover.h"
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2012-04-30 04:17:14 -03:00
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#if CLI_ENABLED == ENABLED
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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_Common for implementation details
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static const struct Menu::command test_menu_commands[] PROGMEM = {
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2015-05-12 04:00:25 -03:00
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{"pwm", MENU_FUNC(test_radio_pwm)},
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{"radio", MENU_FUNC(test_radio)},
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{"passthru", MENU_FUNC(test_passthru)},
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{"failsafe", MENU_FUNC(test_failsafe)},
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{"relay", MENU_FUNC(test_relay)},
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{"waypoints", MENU_FUNC(test_wp)},
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{"modeswitch", MENU_FUNC(test_modeswitch)},
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2012-04-30 04:17:14 -03:00
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// Tests below here are for hardware sensors only present
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// when real sensors are attached or they are emulated
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2015-05-12 04:00:25 -03:00
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{"gps", MENU_FUNC(test_gps)},
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{"ins", MENU_FUNC(test_ins)},
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{"sonartest", MENU_FUNC(test_sonar)},
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{"compass", MENU_FUNC(test_mag)},
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{"logging", MENU_FUNC(test_logging)},
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2014-03-31 14:58:48 -03:00
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#if CONFIG_HAL_BOARD == HAL_BOARD_PX4 || CONFIG_HAL_BOARD == HAL_BOARD_VRBRAIN
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2015-05-12 04:00:25 -03:00
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{"shell", MENU_FUNC(test_shell)},
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2013-03-19 22:35:56 -03:00
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#endif
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2012-04-30 04:17:14 -03:00
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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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2015-05-12 04:00:25 -03:00
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int8_t Rover::test_mode(uint8_t argc, const Menu::arg *argv)
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2012-04-30 04:17:14 -03:00
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{
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2012-11-21 02:25:11 -04:00
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cliSerial->printf_P(PSTR("Test Mode\n\n"));
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2012-04-30 04:17:14 -03:00
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test_menu.run();
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return 0;
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}
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2015-05-12 02:03:23 -03:00
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void Rover::print_hit_enter()
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2012-04-30 04:17:14 -03:00
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{
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2012-11-21 02:25:11 -04:00
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cliSerial->printf_P(PSTR("Hit Enter to exit.\n\n"));
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2012-04-30 04:17:14 -03:00
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}
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2015-05-12 04:00:25 -03:00
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int8_t Rover::test_radio_pwm(uint8_t argc, const Menu::arg *argv)
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2012-04-30 04:17:14 -03:00
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{
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print_hit_enter();
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delay(1000);
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while(1){
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delay(20);
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// Filters radio input - adjust filters in the radio.pde file
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// ----------------------------------------------------------
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read_radio();
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2012-11-21 02:25:11 -04:00
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cliSerial->printf_P(PSTR("IN:\t1: %d\t2: %d\t3: %d\t4: %d\t5: %d\t6: %d\t7: %d\t8: %d\n"),
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2013-06-03 06:33:59 -03:00
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channel_steer->radio_in,
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2013-02-07 18:21:22 -04:00
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g.rc_2.radio_in,
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2013-06-03 06:33:59 -03:00
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channel_throttle->radio_in,
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2013-02-07 18:21:22 -04:00
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g.rc_4.radio_in,
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2012-04-30 04:17:14 -03:00
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g.rc_5.radio_in,
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g.rc_6.radio_in,
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g.rc_7.radio_in,
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g.rc_8.radio_in);
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2012-11-21 02:25:11 -04:00
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if(cliSerial->available() > 0){
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2012-04-30 04:17:14 -03:00
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return (0);
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}
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}
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}
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2015-05-12 04:00:25 -03:00
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int8_t Rover::test_passthru(uint8_t argc, const Menu::arg *argv)
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2012-04-30 04:17:14 -03:00
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{
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print_hit_enter();
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delay(1000);
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while(1){
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delay(20);
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// New radio frame? (we could use also if((millis()- timer) > 20)
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2014-03-25 00:47:02 -03:00
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if (hal.rcin->new_input()) {
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2012-11-21 02:25:11 -04:00
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cliSerial->print("CH:");
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2012-04-30 04:17:14 -03:00
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for(int i = 0; i < 8; i++){
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2012-12-18 17:00:32 -04:00
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cliSerial->print(hal.rcin->read(i)); // Print channel values
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2012-11-21 02:25:11 -04:00
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cliSerial->print(",");
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2012-12-18 17:00:32 -04:00
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hal.rcout->write(i, hal.rcin->read(i)); // Copy input to Servos
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2012-04-30 04:17:14 -03:00
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}
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2012-11-21 02:25:11 -04:00
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cliSerial->println();
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2012-04-30 04:17:14 -03:00
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}
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2012-11-21 02:25:11 -04:00
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if (cliSerial->available() > 0){
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2012-04-30 04:17:14 -03:00
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return (0);
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}
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}
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return 0;
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}
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2015-05-12 04:00:25 -03:00
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int8_t Rover::test_radio(uint8_t argc, const Menu::arg *argv)
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2012-04-30 04:17:14 -03:00
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{
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print_hit_enter();
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delay(1000);
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// read the radio to set trims
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// ---------------------------
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trim_radio();
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while(1){
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delay(20);
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read_radio();
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2013-06-03 06:33:59 -03:00
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channel_steer->calc_pwm();
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channel_throttle->calc_pwm();
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2012-04-30 04:17:14 -03:00
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// write out the servo PWM values
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// ------------------------------
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set_servos();
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2013-06-30 21:10:38 -03:00
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cliSerial->printf_P(PSTR("IN 1: %d\t2: %d\t3: %d\t4: %d\t5: %d\t6: %d\t7: %d\t8: %d\n"),
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2013-06-03 06:33:59 -03:00
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channel_steer->control_in,
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2013-02-07 18:21:22 -04:00
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g.rc_2.control_in,
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2013-06-03 06:33:59 -03:00
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channel_throttle->control_in,
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2013-02-07 18:21:22 -04:00
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g.rc_4.control_in,
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2012-04-30 04:17:14 -03:00
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g.rc_5.control_in,
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g.rc_6.control_in,
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g.rc_7.control_in,
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2013-06-30 21:10:38 -03:00
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g.rc_8.control_in);
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2012-04-30 04:17:14 -03:00
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2012-11-21 02:25:11 -04:00
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if(cliSerial->available() > 0){
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2012-04-30 04:17:14 -03:00
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return (0);
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}
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}
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}
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2015-05-12 04:00:25 -03:00
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int8_t Rover::test_failsafe(uint8_t argc, const Menu::arg *argv)
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2012-04-30 04:17:14 -03:00
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{
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2012-12-18 07:44:12 -04:00
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uint8_t fail_test;
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2012-04-30 04:17:14 -03:00
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print_hit_enter();
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for(int i = 0; i < 50; i++){
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delay(20);
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read_radio();
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}
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// read the radio to set trims
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// ---------------------------
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trim_radio();
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oldSwitchPosition = readSwitch();
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2012-11-21 02:25:11 -04:00
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cliSerial->printf_P(PSTR("Unplug battery, throttle in neutral, turn off radio.\n"));
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2013-06-03 06:33:59 -03:00
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while(channel_throttle->control_in > 0){
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2012-04-30 04:17:14 -03:00
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delay(20);
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read_radio();
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}
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while(1){
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delay(20);
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read_radio();
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2013-06-03 06:33:59 -03:00
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if(channel_throttle->control_in > 0){
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cliSerial->printf_P(PSTR("THROTTLE CHANGED %d \n"), channel_throttle->control_in);
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2012-04-30 04:17:14 -03:00
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fail_test++;
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}
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2012-11-28 07:44:03 -04:00
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if (oldSwitchPosition != readSwitch()){
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2012-11-21 02:25:11 -04:00
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cliSerial->printf_P(PSTR("CONTROL MODE CHANGED: "));
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2013-04-20 02:18:42 -03:00
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print_mode(cliSerial, readSwitch());
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cliSerial->println();
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2012-04-30 04:17:14 -03:00
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fail_test++;
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}
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2015-09-07 00:51:01 -03:00
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if(throttle_failsafe_active()) {
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2013-06-03 06:33:59 -03:00
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cliSerial->printf_P(PSTR("THROTTLE FAILSAFE ACTIVATED: %d, "), channel_throttle->radio_in);
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2013-04-20 02:18:42 -03:00
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print_mode(cliSerial, readSwitch());
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cliSerial->println();
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2012-04-30 04:17:14 -03:00
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fail_test++;
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}
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if(fail_test > 0){
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return (0);
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}
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2012-11-21 02:25:11 -04:00
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if(cliSerial->available() > 0){
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cliSerial->printf_P(PSTR("LOS caused no change in APM.\n"));
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2012-04-30 04:17:14 -03:00
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return (0);
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}
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}
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}
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2015-05-12 04:00:25 -03:00
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int8_t Rover::test_relay(uint8_t argc, const Menu::arg *argv)
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2012-04-30 04:17:14 -03:00
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{
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print_hit_enter();
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delay(1000);
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while(1){
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2012-11-21 02:25:11 -04:00
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cliSerial->printf_P(PSTR("Relay on\n"));
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2014-01-19 23:54:08 -04:00
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relay.on(0);
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2012-04-30 04:17:14 -03:00
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delay(3000);
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2012-11-21 02:25:11 -04:00
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if(cliSerial->available() > 0){
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2012-04-30 04:17:14 -03:00
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return (0);
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}
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2012-11-21 02:25:11 -04:00
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cliSerial->printf_P(PSTR("Relay off\n"));
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2014-01-19 23:54:08 -04:00
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relay.off(0);
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2012-04-30 04:17:14 -03:00
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delay(3000);
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2012-11-21 02:25:11 -04:00
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if(cliSerial->available() > 0){
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2012-04-30 04:17:14 -03:00
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return (0);
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}
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}
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}
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2015-05-12 04:00:25 -03:00
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int8_t Rover::test_wp(uint8_t argc, const Menu::arg *argv)
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2012-04-30 04:17:14 -03:00
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{
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delay(1000);
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2014-03-10 05:46:21 -03:00
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cliSerial->printf_P(PSTR("%u waypoints\n"), (unsigned)mission.num_commands());
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2013-02-07 18:21:22 -04:00
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cliSerial->printf_P(PSTR("Hit radius: %f\n"), g.waypoint_radius);
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2012-04-30 04:17:14 -03:00
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2014-03-10 05:46:21 -03:00
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for(uint8_t i = 0; i < mission.num_commands(); i++){
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AP_Mission::Mission_Command temp_cmd;
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2014-03-10 23:29:53 -03:00
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if (mission.read_cmd_from_storage(i,temp_cmd)) {
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test_wp_print(temp_cmd);
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}
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2012-04-30 04:17:14 -03:00
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}
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return (0);
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}
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2015-05-12 04:00:25 -03:00
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void Rover::test_wp_print(const AP_Mission::Mission_Command& cmd)
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2012-04-30 04:17:14 -03:00
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{
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2014-03-10 05:46:21 -03:00
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cliSerial->printf_P(PSTR("command #: %d id:%d options:%d p1:%d p2:%ld p3:%ld p4:%ld \n"),
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(int)cmd.index,
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(int)cmd.id,
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(int)cmd.content.location.options,
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(int)cmd.p1,
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(long)cmd.content.location.alt,
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(long)cmd.content.location.lat,
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(long)cmd.content.location.lng);
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2012-04-30 04:17:14 -03:00
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}
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2015-05-12 04:00:25 -03:00
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int8_t Rover::test_modeswitch(uint8_t argc, const Menu::arg *argv)
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2012-04-30 04:17:14 -03:00
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{
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print_hit_enter();
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delay(1000);
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2012-11-21 02:25:11 -04:00
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cliSerial->printf_P(PSTR("Control CH "));
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2012-04-30 04:17:14 -03:00
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2013-09-23 04:07:49 -03:00
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cliSerial->println(MODE_CHANNEL, BASE_DEC);
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2012-04-30 04:17:14 -03:00
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while(1){
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delay(20);
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2012-12-18 07:44:12 -04:00
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uint8_t switchPosition = readSwitch();
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2012-04-30 04:17:14 -03:00
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if (oldSwitchPosition != switchPosition){
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2012-11-21 02:25:11 -04:00
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cliSerial->printf_P(PSTR("Position %d\n"), switchPosition);
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2012-04-30 04:17:14 -03:00
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oldSwitchPosition = switchPosition;
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}
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2012-11-21 02:25:11 -04:00
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if(cliSerial->available() > 0){
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2012-04-30 04:17:14 -03:00
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return (0);
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}
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}
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}
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/*
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test the dataflash is working
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*/
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2015-05-12 04:00:25 -03:00
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int8_t Rover::test_logging(uint8_t argc, const Menu::arg *argv)
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2012-04-30 04:17:14 -03:00
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{
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2012-11-21 02:25:11 -04:00
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cliSerial->println_P(PSTR("Testing dataflash logging"));
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2013-02-22 19:14:35 -04:00
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DataFlash.ShowDeviceInfo(cliSerial);
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2012-04-30 04:17:14 -03:00
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return 0;
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}
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//-------------------------------------------------------------------------------------------
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// tests in this section are for real sensors or sensors that have been simulated
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2015-05-12 04:00:25 -03:00
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int8_t Rover::test_gps(uint8_t argc, const Menu::arg *argv)
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2012-04-30 04:17:14 -03:00
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{
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2014-03-30 22:01:54 -03:00
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print_hit_enter();
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delay(1000);
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uint32_t last_message_time_ms = 0;
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while(1) {
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delay(100);
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gps.update();
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if (gps.last_message_time_ms() != last_message_time_ms) {
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last_message_time_ms = gps.last_message_time_ms();
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const Location &loc = gps.location();
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cliSerial->printf_P(PSTR("Lat: %ld, Lon %ld, Alt: %ldm, #sats: %d\n"),
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(long)loc.lat,
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(long)loc.lng,
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(long)loc.alt/100,
|
|
|
|
(int)gps.num_sats());
|
|
|
|
} else {
|
|
|
|
cliSerial->printf_P(PSTR("."));
|
|
|
|
}
|
|
|
|
if(cliSerial->available() > 0) {
|
|
|
|
return (0);
|
|
|
|
}
|
|
|
|
}
|
2012-04-30 04:17:14 -03:00
|
|
|
}
|
|
|
|
|
2015-05-12 04:00:25 -03:00
|
|
|
int8_t Rover::test_ins(uint8_t argc, const Menu::arg *argv)
|
2012-04-30 04:17:14 -03:00
|
|
|
{
|
2012-11-21 02:25:11 -04:00
|
|
|
//cliSerial->printf_P(PSTR("Calibrating."));
|
2013-01-13 01:03:54 -04:00
|
|
|
ahrs.init();
|
|
|
|
ahrs.set_fly_forward(true);
|
2015-09-17 09:33:06 -03:00
|
|
|
ins.init(ins_sample_rate);
|
2012-04-30 04:17:14 -03:00
|
|
|
ahrs.reset();
|
|
|
|
|
|
|
|
print_hit_enter();
|
|
|
|
delay(1000);
|
|
|
|
|
2013-06-03 21:37:05 -03:00
|
|
|
uint8_t medium_loopCounter = 0;
|
|
|
|
|
2012-04-30 04:17:14 -03:00
|
|
|
while(1){
|
2014-10-15 20:33:46 -03:00
|
|
|
ins.wait_for_sample();
|
2013-10-28 03:21:35 -03:00
|
|
|
|
|
|
|
ahrs.update();
|
|
|
|
|
|
|
|
if(g.compass_enabled) {
|
|
|
|
medium_loopCounter++;
|
|
|
|
if(medium_loopCounter >= 5){
|
|
|
|
compass.read();
|
|
|
|
medium_loopCounter = 0;
|
|
|
|
}
|
|
|
|
}
|
|
|
|
|
|
|
|
// We are using the IMU
|
|
|
|
// ---------------------
|
|
|
|
Vector3f gyros = ins.get_gyro();
|
|
|
|
Vector3f accels = ins.get_accel();
|
|
|
|
cliSerial->printf_P(PSTR("r:%4d p:%4d y:%3d g=(%5.1f %5.1f %5.1f) a=(%5.1f %5.1f %5.1f)\n"),
|
2012-04-30 04:17:14 -03:00
|
|
|
(int)ahrs.roll_sensor / 100,
|
|
|
|
(int)ahrs.pitch_sensor / 100,
|
|
|
|
(uint16_t)ahrs.yaw_sensor / 100,
|
2015-05-03 03:01:05 -03:00
|
|
|
(double)gyros.x, (double)gyros.y, (double)gyros.z,
|
|
|
|
(double)accels.x, (double)accels.y, (double)accels.z);
|
2014-11-14 22:29:25 -04:00
|
|
|
if(cliSerial->available() > 0){
|
|
|
|
return (0);
|
|
|
|
}
|
2013-10-28 03:21:35 -03:00
|
|
|
}
|
2012-04-30 04:17:14 -03:00
|
|
|
}
|
|
|
|
|
2015-05-12 04:00:25 -03:00
|
|
|
void Rover::print_enabled(bool b)
|
|
|
|
{
|
|
|
|
if(b)
|
|
|
|
cliSerial->printf_P(PSTR("en"));
|
|
|
|
else
|
|
|
|
cliSerial->printf_P(PSTR("dis"));
|
|
|
|
cliSerial->printf_P(PSTR("abled\n"));
|
|
|
|
}
|
2012-04-30 04:17:14 -03:00
|
|
|
|
2015-05-12 04:00:25 -03:00
|
|
|
int8_t Rover::test_mag(uint8_t argc, const Menu::arg *argv)
|
2012-04-30 04:17:14 -03:00
|
|
|
{
|
|
|
|
if (!g.compass_enabled) {
|
2012-11-21 02:25:11 -04:00
|
|
|
cliSerial->printf_P(PSTR("Compass: "));
|
2012-04-30 04:17:14 -03:00
|
|
|
print_enabled(false);
|
|
|
|
return (0);
|
|
|
|
}
|
|
|
|
|
|
|
|
if (!compass.init()) {
|
2012-11-21 02:25:11 -04:00
|
|
|
cliSerial->println_P(PSTR("Compass initialisation failed!"));
|
2012-04-30 04:17:14 -03:00
|
|
|
return 0;
|
|
|
|
}
|
2013-01-13 01:03:54 -04:00
|
|
|
ahrs.init();
|
|
|
|
ahrs.set_fly_forward(true);
|
2012-04-30 04:17:14 -03:00
|
|
|
ahrs.set_compass(&compass);
|
|
|
|
|
|
|
|
// we need the AHRS initialised for this test
|
2015-09-17 09:33:06 -03:00
|
|
|
ins.init(ins_sample_rate);
|
2012-04-30 04:17:14 -03:00
|
|
|
ahrs.reset();
|
|
|
|
|
|
|
|
int counter = 0;
|
2012-06-20 06:31:56 -03:00
|
|
|
float heading = 0;
|
|
|
|
|
2012-04-30 04:17:14 -03:00
|
|
|
print_hit_enter();
|
|
|
|
|
2013-06-03 21:37:05 -03:00
|
|
|
uint8_t medium_loopCounter = 0;
|
|
|
|
|
2012-04-30 04:17:14 -03:00
|
|
|
while(1) {
|
2014-10-15 20:33:46 -03:00
|
|
|
ins.wait_for_sample();
|
2013-10-28 03:21:35 -03:00
|
|
|
ahrs.update();
|
|
|
|
|
|
|
|
medium_loopCounter++;
|
|
|
|
if(medium_loopCounter >= 5){
|
|
|
|
if (compass.read()) {
|
|
|
|
// Calculate heading
|
|
|
|
Matrix3f m = ahrs.get_dcm_matrix();
|
|
|
|
heading = compass.calculate_heading(m);
|
2014-02-15 22:22:20 -04:00
|
|
|
compass.learn_offsets();
|
2012-04-30 04:17:14 -03:00
|
|
|
}
|
2013-10-28 03:21:35 -03:00
|
|
|
medium_loopCounter = 0;
|
|
|
|
}
|
|
|
|
|
|
|
|
counter++;
|
|
|
|
if (counter>20) {
|
2013-12-09 02:46:57 -04:00
|
|
|
if (compass.healthy()) {
|
2015-09-28 16:57:00 -03:00
|
|
|
const Vector3f mag_ofs = compass.get_offsets();
|
|
|
|
const Vector3f mag = compass.get_field();
|
2013-12-08 23:09:56 -04:00
|
|
|
cliSerial->printf_P(PSTR("Heading: %ld, XYZ: %.0f, %.0f, %.0f,\tXYZoff: %6.2f, %6.2f, %6.2f\n"),
|
2013-03-28 23:14:14 -03:00
|
|
|
(wrap_360_cd(ToDeg(heading) * 100)) /100,
|
2015-05-03 03:01:05 -03:00
|
|
|
(double)mag.x, (double)mag.y, (double)mag.z,
|
|
|
|
(double)mag_ofs.x, (double)mag_ofs.y, (double)mag_ofs.z);
|
2013-10-28 03:21:35 -03:00
|
|
|
} else {
|
|
|
|
cliSerial->println_P(PSTR("compass not healthy"));
|
2012-04-30 04:17:14 -03:00
|
|
|
}
|
2013-10-28 03:21:35 -03:00
|
|
|
counter=0;
|
|
|
|
}
|
2012-11-21 02:25:11 -04:00
|
|
|
if (cliSerial->available() > 0) {
|
2012-04-30 04:17:14 -03:00
|
|
|
break;
|
|
|
|
}
|
|
|
|
}
|
|
|
|
|
|
|
|
// save offsets. This allows you to get sane offset values using
|
|
|
|
// the CLI before you go flying.
|
2012-11-21 02:25:11 -04:00
|
|
|
cliSerial->println_P(PSTR("saving offsets"));
|
2012-04-30 04:17:14 -03:00
|
|
|
compass.save_offsets();
|
|
|
|
return (0);
|
|
|
|
}
|
|
|
|
|
|
|
|
//-------------------------------------------------------------------------------------------
|
|
|
|
// real sensors that have not been simulated yet go here
|
|
|
|
|
2015-05-12 04:00:25 -03:00
|
|
|
int8_t Rover::test_sonar(uint8_t argc, const Menu::arg *argv)
|
2012-06-13 03:29:32 -03:00
|
|
|
{
|
2014-11-10 20:33:51 -04:00
|
|
|
init_sonar();
|
|
|
|
delay(20);
|
|
|
|
sonar.update();
|
|
|
|
|
2015-04-17 03:41:00 -03:00
|
|
|
if (sonar.status() == RangeFinder::RangeFinder_NotConnected) {
|
2013-02-28 21:29:29 -04:00
|
|
|
cliSerial->println_P(PSTR("WARNING: Sonar is not enabled"));
|
2013-02-28 16:14:08 -04:00
|
|
|
}
|
|
|
|
|
|
|
|
print_hit_enter();
|
2013-03-28 18:07:24 -03:00
|
|
|
|
|
|
|
float sonar_dist_cm_min = 0.0f;
|
|
|
|
float sonar_dist_cm_max = 0.0f;
|
|
|
|
float voltage_min=0.0f, voltage_max = 0.0f;
|
|
|
|
float sonar2_dist_cm_min = 0.0f;
|
|
|
|
float sonar2_dist_cm_max = 0.0f;
|
|
|
|
float voltage2_min=0.0f, voltage2_max = 0.0f;
|
|
|
|
uint32_t last_print = 0;
|
2012-06-13 03:29:32 -03:00
|
|
|
|
2013-02-28 16:14:08 -04:00
|
|
|
while (true) {
|
2013-03-28 18:07:24 -03:00
|
|
|
delay(20);
|
2014-11-10 20:33:51 -04:00
|
|
|
sonar.update();
|
2013-03-28 18:07:24 -03:00
|
|
|
uint32_t now = millis();
|
2014-11-10 20:33:51 -04:00
|
|
|
|
2014-06-27 00:18:20 -03:00
|
|
|
float dist_cm = sonar.distance_cm(0);
|
|
|
|
float voltage = sonar.voltage_mv(0);
|
2015-05-04 23:34:02 -03:00
|
|
|
if (is_zero(sonar_dist_cm_min)) {
|
2013-03-28 18:07:24 -03:00
|
|
|
sonar_dist_cm_min = dist_cm;
|
|
|
|
voltage_min = voltage;
|
|
|
|
}
|
|
|
|
sonar_dist_cm_max = max(sonar_dist_cm_max, dist_cm);
|
|
|
|
sonar_dist_cm_min = min(sonar_dist_cm_min, dist_cm);
|
|
|
|
voltage_min = min(voltage_min, voltage);
|
|
|
|
voltage_max = max(voltage_max, voltage);
|
|
|
|
|
2014-06-27 00:18:20 -03:00
|
|
|
dist_cm = sonar.distance_cm(1);
|
|
|
|
voltage = sonar.voltage_mv(1);
|
2015-05-04 23:34:02 -03:00
|
|
|
if (is_zero(sonar2_dist_cm_min)) {
|
2013-03-28 18:07:24 -03:00
|
|
|
sonar2_dist_cm_min = dist_cm;
|
|
|
|
voltage2_min = voltage;
|
|
|
|
}
|
|
|
|
sonar2_dist_cm_max = max(sonar2_dist_cm_max, dist_cm);
|
|
|
|
sonar2_dist_cm_min = min(sonar2_dist_cm_min, dist_cm);
|
|
|
|
voltage2_min = min(voltage2_min, voltage);
|
|
|
|
voltage2_max = max(voltage2_max, voltage);
|
|
|
|
|
|
|
|
if (now - last_print >= 200) {
|
|
|
|
cliSerial->printf_P(PSTR("sonar1 dist=%.1f:%.1fcm volt1=%.2f:%.2f sonar2 dist=%.1f:%.1fcm volt2=%.2f:%.2f\n"),
|
2015-05-03 03:01:05 -03:00
|
|
|
(double)sonar_dist_cm_min,
|
|
|
|
(double)sonar_dist_cm_max,
|
|
|
|
(double)voltage_min,
|
|
|
|
(double)voltage_max,
|
|
|
|
(double)sonar2_dist_cm_min,
|
|
|
|
(double)sonar2_dist_cm_max,
|
|
|
|
(double)voltage2_min,
|
|
|
|
(double)voltage2_max);
|
2013-03-28 18:07:24 -03:00
|
|
|
voltage_min = voltage_max = 0.0f;
|
|
|
|
voltage2_min = voltage2_max = 0.0f;
|
|
|
|
sonar_dist_cm_min = sonar_dist_cm_max = 0.0f;
|
|
|
|
sonar2_dist_cm_min = sonar2_dist_cm_max = 0.0f;
|
|
|
|
last_print = now;
|
|
|
|
}
|
2013-02-28 16:14:08 -04:00
|
|
|
if (cliSerial->available() > 0) {
|
|
|
|
break;
|
2012-06-13 03:29:32 -03:00
|
|
|
}
|
2013-02-28 16:14:08 -04:00
|
|
|
}
|
|
|
|
return (0);
|
2012-06-13 03:29:32 -03:00
|
|
|
}
|
2012-04-30 04:17:14 -03:00
|
|
|
|
2014-03-31 14:58:48 -03:00
|
|
|
#if CONFIG_HAL_BOARD == HAL_BOARD_PX4 || CONFIG_HAL_BOARD == HAL_BOARD_VRBRAIN
|
2013-03-19 22:35:56 -03:00
|
|
|
/*
|
|
|
|
* run a debug shell
|
|
|
|
*/
|
2015-05-12 04:00:25 -03:00
|
|
|
int8_t Rover::test_shell(uint8_t argc, const Menu::arg *argv)
|
2013-03-19 22:35:56 -03:00
|
|
|
{
|
|
|
|
hal.util->run_debug_shell(cliSerial);
|
|
|
|
return 0;
|
|
|
|
}
|
|
|
|
#endif
|
|
|
|
|
2012-04-30 04:17:14 -03:00
|
|
|
#endif // CLI_ENABLED
|