ardupilot/libraries/AP_HAL_AVR/examples/ArduCopterLibs/ArduCopterLibs.pde

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#include <AP_Common.h>
#include <AP_Progmem.h>
#include <AP_HAL.h>
#include <AP_HAL_AVR.h>
#include <AP_Common.h>
#include <AP_Progmem.h>
#include <AP_Menu.h>
#include <AP_Param.h>
#include <AP_GPS.h> // ArduPilot GPS library
#include <AP_ADC.h> // ArduPilot Mega Analog to Digital Converter Library
#include <AP_Baro.h>
#include <AP_Declination.h>
#include <AP_Compass.h> // ArduPilot Mega Magnetometer Library
#include <AP_Math.h> // ArduPilot Mega Vector/Matrix math Library
#include <AP_Curve.h> // Curve used to linearlise throttle pwm to thrust
#include <AP_InertialSensor.h> // ArduPilot Mega Inertial Sensor (accel & gyro) Library
// (only included for makefile libpath to work)
#include <AP_AHRS.h>
#include <APM_PI.h> // PI library
#include <AC_PID.h> // PID library
#include <RC_Channel.h> // RC Channel Library
#include <AP_Motors.h> // AP Motors library
#include <AP_ADC_AnalogSource.h>
#include <AP_RangeFinder.h> // Range finder library
#include <AP_OpticalFlow.h> // Optical Flow library
#include <Filter.h> // Filter library
#include <AP_Buffer.h> // APM FIFO Buffer
#include <AP_Relay.h> // APM relay
#include <AP_Camera.h> // Photo or video camera
#include <AP_Mount.h> // Camera/Antenna mount
#include <AP_Airspeed.h> // needed for AHRS build
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#include <AP_Vehicle.h> // needed for AHRS build
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#include <AP_Notify.h>
#include <DataFlash.h>
#include <AP_InertialNav.h> // ArduPilot Mega inertial navigation library
#include <GCS_MAVLink.h>
#include <memcheck.h>
#if CONFIG_HAL_BOARD == HAL_BOARD_APM2
const AP_HAL::HAL& hal = AP_HAL_AVR_APM2;
#elif CONFIG_HAL_BOARD == HAL_BOARD_APM1
const AP_HAL::HAL& hal = AP_HAL_AVR_APM1;
#endif
void stream_loopback(AP_HAL::Stream* s, uint32_t time) {
uint32_t end = hal.scheduler->millis() + time;
for(;;) {
if (hal.scheduler->millis() >= end && time != 0) {
return;
}
if (s->available() > 0) {
int c;
c = s->read();
if (-1 != c) {
s->write((uint8_t)c);
}
}
}
}
void setup(void)
{
//
// Test printing things
//
hal.console->print("test");
hal.console->println(" begin");
hal.console->println(1000);
hal.console->println(1000, 8);
hal.console->println(1000, 10);
hal.console->println(1000, 16);
hal.console->println_P(PSTR("progmem"));
hal.console->printf("printf %d %u %#x %p %f %S\n", -1000, 1000, 1000, 1000, 1.2345, PSTR("progmem"));
hal.console->printf_P(PSTR("printf_P %d %u %#x %p %f %S\n"), -1000, 1000, 1000, 1000, 1.2345, PSTR("progmem"));
hal.console->println("done.");
for(;;);
}
void loop(void){}
AP_HAL_MAIN();