mirror of https://github.com/ArduPilot/ardupilot
66 lines
1.8 KiB
Plaintext
66 lines
1.8 KiB
Plaintext
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/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: t -*-
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/*
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new variable scheme
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Andrew Tridgell February 2012
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*/
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#include <FastSerial.h>
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#include <AP_Common.h>
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#include <PID.h> // PID library
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#include <APM_RC.h> // ArduPilot Mega RC Library
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#include <RC_Channel.h> // RC Channel Library
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#include <AP_Compass.h> // ArduPilot Mega Magnetometer Library
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#include <I2C.h>
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#include <AP_Math.h>
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#include <config.h>
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#include <Parameters.h>
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static Parameters g;
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static AP_Compass_HMC5843 compass;
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FastSerialPort0(Serial);
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#define SERIAL0_BAUD 115200
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void setup() {
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Serial.begin(SERIAL0_BAUD, 128, 128);
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load_parameters();
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Serial.printf_P(PSTR("sizeof(RC_Channel)=%u\n"), (unsigned)sizeof(RC_Channel));
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Serial.printf_P(PSTR("sizeof(g)=%u\n"), (unsigned)sizeof(g));
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Serial.printf_P(PSTR("sizeof(g.throttle_min)=%u\n"), (unsigned)sizeof(g.throttle_min));
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Serial.printf_P(PSTR("sizeof(g.channel_roll)=%u\n"), (unsigned)sizeof(g.channel_roll));
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Serial.printf_P(PSTR("throttle_max now: %u\n"), (unsigned)g.throttle_max);
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// try set interfaces
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g.throttle_min.set(g.throttle_min+1);
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g.throttle_min.save();
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g.throttle_min.set_and_save(g.throttle_min+1);
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Serial.printf_P(PSTR("throttle_min now: %u\n"), (unsigned)g.throttle_min);
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// find a variable by name
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AP_Param *vp;
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vp = AP_Param::find("RLL2SRV_P");
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((AP_Float *)vp)->set(23);
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Serial.printf_P(PSTR("RLL2SRV_P=%f\n"),
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g.pidServoRoll.kP());
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char s[AP_MAX_NAME_SIZE+1];
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g.throttle_min.copy_name(s, sizeof(s));
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s[AP_MAX_NAME_SIZE] = 0;
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Serial.printf_P(PSTR("THROTTLE_MIN.copy_name()->%s\n"), s);
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g.channel_roll.radio_min.copy_name(s, sizeof(s));
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s[AP_MAX_NAME_SIZE] = 0;
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Serial.printf_P(PSTR("RC1_MIN.copy_name()->%s %p\n"), s, &g.channel_roll.radio_min);
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}
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void loop()
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{
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}
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