ardupilot/libraries/AP_AHRS/examples/AHRS_Test/AHRS_Test.pde

131 lines
2.9 KiB
Plaintext
Raw Normal View History

2013-05-29 20:54:53 -03:00
// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
//
// Simple test for the AP_AHRS interface
//
2012-11-14 12:10:15 -04:00
#include <AP_HAL.h>
#include <AP_Common.h>
#include <AP_Progmem.h>
#include <AP_Math.h>
#include <AP_Param.h>
#include <AP_InertialSensor.h>
#include <AP_ADC.h>
2013-07-15 01:10:17 -03:00
#include <AP_ADC_AnalogSource.h>
#include <AP_GPS.h>
#include <AP_AHRS.h>
#include <AP_Compass.h>
2012-11-14 12:10:15 -04:00
#include <AP_Declination.h>
#include <AP_Airspeed.h>
#include <AP_Baro.h>
#include <GCS_MAVLink.h>
2012-03-22 07:13:26 -03:00
#include <Filter.h>
#include <SITL.h>
#include <AP_Buffer.h>
2013-08-29 02:04:17 -03:00
#include <AP_Notify.h>
2013-09-12 22:46:10 -03:00
#include <AP_Vehicle.h>
2013-08-29 02:04:17 -03:00
#include <DataFlash.h>
2012-11-14 12:10:15 -04:00
#include <AP_HAL_AVR.h>
#include <AP_HAL_AVR_SITL.h>
#include <AP_HAL_Empty.h>
const AP_HAL::HAL& hal = AP_HAL_BOARD_DRIVER;
#if CONFIG_HAL_BOARD == HAL_BOARD_APM2
AP_InertialSensor_MPU6000 ins;
#elif CONFIG_HAL_BOARD == HAL_BOARD_APM1
AP_ADC_ADS7844 adc;
AP_InertialSensor_Oilpan ins( &adc );
#else
2013-09-28 06:34:00 -03:00
AP_InertialSensor_HIL ins;
#endif
2012-11-14 12:10:15 -04:00
AP_Compass_HMC5843 compass;
GPS *g_gps;
AP_GPS_Auto g_gps_driver(&g_gps);
2012-03-23 02:27:37 -03:00
// choose which AHRS system to use
AP_AHRS_DCM ahrs(ins, g_gps);
2013-05-02 02:09:05 -03:00
AP_Baro_HIL barometer;
2012-11-14 12:10:15 -04:00
#define HIGH 1
#define LOW 0
void setup(void)
{
#ifdef APM2_HARDWARE
// we need to stop the barometer from holding the SPI bus
2012-11-14 12:10:15 -04:00
hal.gpio->pinMode(40, GPIO_OUTPUT);
hal.gpio->write(40, HIGH);
#endif
ins.init(AP_InertialSensor::COLD_START,
AP_InertialSensor::RATE_100HZ);
ins.init_accel();
ahrs.init();
if( compass.init() ) {
2012-11-14 12:10:15 -04:00
hal.console->printf("Enabling compass\n");
ahrs.set_compass(&compass);
} else {
2012-11-14 12:10:15 -04:00
hal.console->printf("No compass detected\n");
}
g_gps = &g_gps_driver;
2012-03-23 02:27:37 -03:00
#if WITH_GPS
g_gps->init(hal.uartB);
2012-03-23 02:27:37 -03:00
#endif
}
void loop(void)
{
static uint16_t counter;
static uint32_t last_t, last_print, last_compass;
2012-11-14 12:10:15 -04:00
uint32_t now = hal.scheduler->micros();
float heading = 0;
if (last_t == 0) {
last_t = now;
return;
}
last_t = now;
if (now - last_compass > 100*1000UL &&
compass.read()) {
heading = compass.calculate_heading(ahrs.get_dcm_matrix());
// read compass at 10Hz
last_compass = now;
2012-03-23 02:27:37 -03:00
#if WITH_GPS
g_gps->update();
2012-03-23 02:27:37 -03:00
#endif
}
ahrs.update();
counter++;
2012-11-14 12:10:15 -04:00
if (now - last_print >= 100000 /* 100ms : 10hz */) {
Vector3f drift = ahrs.get_gyro_drift();
2012-11-14 12:10:15 -04:00
hal.console->printf_P(
PSTR("r:%4.1f p:%4.1f y:%4.1f "
"drift=(%5.1f %5.1f %5.1f) hdg=%.1f rate=%.1f\n"),
ToDeg(ahrs.roll),
ToDeg(ahrs.pitch),
ToDeg(ahrs.yaw),
ToDeg(drift.x),
ToDeg(drift.y),
ToDeg(drift.z),
compass.use_for_yaw() ? ToDeg(heading) : 0.0,
(1.0e6*counter)/(now-last_print));
last_print = now;
counter = 0;
}
}
2012-11-14 12:10:15 -04:00
AP_HAL_MAIN();