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Replay: added -A option to set arming time

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This commit is contained in:
Andrew Tridgell 2014-04-21 13:00:59 +10:00
parent 994ce50714
commit 2295632660
1 changed files with 20 additions and 2 deletions
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22
Tools/Replay/Replay.pde
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@ -85,6 +85,7 @@ static bool done_parameters;
static bool done_baro_init;
static bool done_home_init;
static uint16_t update_rate;
static uint32_t arm_time_ms;
static uint8_t num_user_parameters;
static struct {
@ -100,6 +101,7 @@ static void usage(void)
::printf(" -pNAME=VALUE set parameter NAME to VALUE\n");
::printf(" -aMASK set accel mask (1=accel1 only, 2=accel2 only, 3=both)\n");
::printf(" -gMASK set gyro mask (1=gyro1 only, 2=gyro2 only, 3=both)\n");
::printf(" -A time arm at time milliseconds)\n");
}
void setup()
@ -113,7 +115,7 @@ void setup()
hal.util->commandline_arguments(argc, argv);
while ((opt = getopt(argc, argv, "r:p:ha:g:")) != -1) {
while ((opt = getopt(argc, argv, "r:p:ha:g:A:")) != -1) {
switch (opt) {
case 'h':
usage();
@ -131,6 +133,10 @@ void setup()
LogReader.set_accel_mask(strtol(optarg, NULL, 0));
break;
case 'A':
arm_time_ms = strtoul(optarg, NULL, 0);
break;
case 'p':
char *eq = strchr(optarg, '=');
if (eq == NULL) {
@ -177,7 +183,11 @@ void setup()
ahrs.set_fly_forward(true);
ahrs.set_wind_estimation(true);
ahrs.set_correct_centrifugal(true);
if (arm_time_ms != 0) {
ahrs.set_armed(false);
}
barometer.init();
barometer.setHIL(0);
barometer.read();
@ -301,6 +311,14 @@ void loop()
{
while (true) {
uint8_t type;
if (arm_time_ms != 0 && hal.scheduler->millis() > arm_time_ms) {
if (!ahrs.get_armed()) {
ahrs.set_armed(true);
::printf("Arming at %u ms\n", (unsigned)hal.scheduler->millis());
}
}
if (!LogReader.update(type)) {
::printf("End of log at %.1f seconds\n", hal.scheduler->millis()*0.001f);
fclose(plotf);