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Test for new nav function

This commit is contained in:
Jason Short 2011-09-24 16:48:04 -07:00
parent e961d3f3d4
commit 35c30e91bf
1 changed files with 36 additions and 0 deletions
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36
ArduCopter/test.pde
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@ -15,6 +15,8 @@ static int8_t test_imu(uint8_t argc, const Menu::arg *argv);
//static int8_t test_dcm(uint8_t argc, const Menu::arg *argv); //static int8_t test_dcm(uint8_t argc, const Menu::arg *argv);
//static int8_t test_omega(uint8_t argc, const Menu::arg *argv); //static int8_t test_omega(uint8_t argc, const Menu::arg *argv);
static int8_t test_battery(uint8_t argc, const Menu::arg *argv); static int8_t test_battery(uint8_t argc, const Menu::arg *argv);
//static int8_t test_nav(uint8_t argc, const Menu::arg *argv);
//static int8_t test_wp_nav(uint8_t argc, const Menu::arg *argv); //static int8_t test_wp_nav(uint8_t argc, const Menu::arg *argv);
//static int8_t test_reverse(uint8_t argc, const Menu::arg *argv); //static int8_t test_reverse(uint8_t argc, const Menu::arg *argv);
static int8_t test_tuning(uint8_t argc, const Menu::arg *argv); static int8_t test_tuning(uint8_t argc, const Menu::arg *argv);
@ -69,6 +71,7 @@ const struct Menu::command test_menu_commands[] PROGMEM = {
{"current", test_current}, {"current", test_current},
{"relay", test_relay}, {"relay", test_relay},
{"waypoints", test_wp}, {"waypoints", test_wp},
//{"nav", test_nav},
#if HIL_MODE != HIL_MODE_ATTITUDE #if HIL_MODE != HIL_MODE_ATTITUDE
{"altitude", test_baro}, {"altitude", test_baro},
#endif #endif
@ -170,6 +173,39 @@ test_tri(uint8_t argc, const Menu::arg *argv)
} }
} }
/*
static int8_t
test_nav(uint8_t argc, const Menu::arg *argv)
{
print_hit_enter();
delay(1000);
while(1){
delay(1000);
g_gps->ground_course = 19500;
calc_nav_rate2(g.waypoint_speed_max);
calc_nav_pitch_roll2();
g_gps->ground_course = 28500;
calc_nav_rate2(g.waypoint_speed_max);
calc_nav_pitch_roll2();
g_gps->ground_course = 1500;
calc_nav_rate2(g.waypoint_speed_max);
calc_nav_pitch_roll2();
g_gps->ground_course = 10500;
calc_nav_rate2(g.waypoint_speed_max);
calc_nav_pitch_roll2();
//if(Serial.available() > 0){
return (0);
//}
}
}
*/
static int8_t static int8_t
test_radio(uint8_t argc, const Menu::arg *argv) test_radio(uint8_t argc, const Menu::arg *argv)
{ {