ardupilot/libraries/AP_RangeFinder/examples/RFIND_test/RFIND_test.pde

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/*
* RangeFinder test code
*/
#include <AP_RangeFinder.h>
#include <AP_Common.h>
#include <AP_HAL.h>
#include <Filter.h>
#include <AP_Progmem.h>
#include <AP_Math.h>
#include <AP_Param.h>
#include <GCS_MAVLink.h>
#include <AP_HAL_Empty.h>
#include <AP_HAL_AVR.h>
#include <AP_HAL_AVR_SITL.h>
#include <AP_HAL_PX4.h>
#include <AP_HAL_Linux.h>
#include <DataFlash.h>
#include <AP_GPS.h>
#include <AP_InertialSensor.h>
#include <AP_ADC.h>
#include <AP_Baro.h>
#include <AP_AHRS.h>
#include <AP_Compass.h>
#include <AP_Declination.h>
#include <AP_Airspeed.h>
#include <AP_Vehicle.h>
#include <AP_NavEKF.h>
#include <AP_ADC_AnalogSource.h>
#include <AP_Notify.h>
#include <AP_Mission.h>
#include <AP_Scheduler.h>
const AP_HAL::HAL& hal = AP_HAL_BOARD_DRIVER;
static RangeFinder sonar;
void setup()
{
// print welcome message
hal.console->println("Range Finder library test");
// setup for analog pin 13
AP_Param::set_object_value(&sonar, sonar.var_info, "_TYPE", RangeFinder::RangeFinder_TYPE_ANALOG);
AP_Param::set_object_value(&sonar, sonar.var_info, "_PIN", 13);
AP_Param::set_object_value(&sonar, sonar.var_info, "_SCALING", 3.10);
// initialise sensor, delaying to make debug easier
hal.scheduler->delay(2000);
sonar.init();
}
void loop()
{
// Delay between reads
hal.scheduler->delay(100);
hal.console->printf_P(PSTR("RangeFinder: %d devices detected\n"), sonar.num_sensors());
hal.console->printf_P(PSTR("Primary: health %d distance_cm %d \n"), (int)sonar.healthy(), sonar.distance_cm());
hal.console->printf_P(PSTR("All: device_0 type %d health %d distance_cm %d, pin %d, device_1 type %d health %d distance_cm %d, pin %d\n"),
(int)sonar._type[0], (int)sonar.healthy(0), sonar.distance_cm(0), sonar._pin[0], (int)sonar._type[1], (int)sonar.healthy(1), sonar.distance_cm(1), sonar._pin[1]);
hal.console->printf("Distance %.2f, Voltage-first %d, Voltage-second %d\n", (float)sonar.distance_cm(), sonar.voltage_mv(0), sonar.voltage_mv(1));
}
AP_HAL_MAIN();