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AP_Baro: add more comments to example

This commit is contained in:
Sagnik Bhattacharya 2018-05-23 16:25:54 +05:30 committed by Peter Barker
parent 47f3720040
commit 1830e72a0e
1 changed files with 26 additions and 0 deletions
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26
libraries/AP_Baro/examples/BARO_generic/BARO_generic.cpp
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@ -1,3 +1,18 @@
/*
This program is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation, either version 3 of the License, or
(at your option) any later version.
This program is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with this program. If not, see <http://www.gnu.org/licenses/>.
*/
/*
generic Baro driver test
*/
@ -10,6 +25,7 @@
const AP_HAL::HAL &hal = AP_HAL::get_HAL();
// create barometer object
static AP_Baro barometer;
static uint32_t timer;
@ -19,6 +35,7 @@ static AP_BoardConfig board_config;
void setup();
void loop();
// to be called only once on boot for initializing objects
void setup()
{
hal.console->printf("Barometer library test\n");
@ -27,14 +44,18 @@ void setup()
hal.scheduler->delay(1000);
// initialize the barometer
barometer.init();
barometer.calibrate();
// set up timer to count time in microseconds
timer = AP_HAL::micros();
}
// loop
void loop()
{
// terminate program if console fails to initialize
if (!hal.console->is_initialized()) {
return;
}
@ -48,11 +69,15 @@ void loop()
}
counter = 0;
barometer.update();
//calculate time taken for barometer readings to update
uint32_t read_time = AP_HAL::micros() - timer;
if (!barometer.healthy()) {
hal.console->printf("not healthy\n");
return;
}
//output barometer readings to console
hal.console->printf(" Pressure: %.2f Pa\n"
" Temperature: %.2f degC\n"
" Relative Altitude: %.2f m\n"
@ -65,6 +90,7 @@ void loop()
(double)barometer.get_climb_rate(),
(unsigned)read_time);
} else {
// if stipulated time has not passed between two distinct readings, delay the program for a millisecond
hal.scheduler->delay(1);
}
}