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purple: enable dcm test, and fixed imu test to test the IMU API

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This commit is contained in:
Pat Hickey 2011-11-13 14:57:16 +11:00
parent c2972ff1f9
commit 475afd6ac2
1 changed files with 44 additions and 1 deletions
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45
ArduCopter/test.pde
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@ -13,6 +13,7 @@ static int8_t test_gps(uint8_t argc, const Menu::arg *argv);
//static int8_t test_adc(uint8_t argc, const Menu::arg *argv); //static int8_t test_adc(uint8_t argc, const Menu::arg *argv);
static int8_t test_ins(uint8_t argc, const Menu::arg *argv); static int8_t test_ins(uint8_t argc, const Menu::arg *argv);
static int8_t test_imu(uint8_t argc, const Menu::arg *argv); static int8_t test_imu(uint8_t argc, const Menu::arg *argv);
static int8_t test_dcm_eulers(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);
@ -65,7 +66,7 @@ const struct Menu::command test_menu_commands[] PROGMEM = {
#endif #endif
{"ins", test_ins}, {"ins", test_ins},
{"imu", test_imu}, {"imu", test_imu},
//{"dcm", test_dcm}, {"dcm", test_dcm_eulers},
//{"omega", test_omega}, //{"omega", test_omega},
{"battery", test_battery}, {"battery", test_battery},
{"tune", test_tuning}, {"tune", test_tuning},
@ -459,14 +460,56 @@ test_ins(uint8_t argc, const Menu::arg *argv)
} }
} }
/*
test the IMU interface
*/
static int8_t static int8_t
test_imu(uint8_t argc, const Menu::arg *argv) test_imu(uint8_t argc, const Menu::arg *argv)
{
Vector3f gyro;
Vector3f accel;
imu.init(IMU::WARM_START, delay, &timer_scheduler);
report_imu();
imu.init_gyro();
report_imu();
print_hit_enter();
delay(1000);
while(1){
delay(40);
imu.update();
gyro = imu.get_gyro();
accel = imu.get_accel();
Serial.printf_P(PSTR("g %8.4f %8.4f %8.4f"), gyro.x, gyro.y, gyro.z);
Serial.printf_P(PSTR(" a %8.4f %8.4f %8.4f\n"), accel.x, accel.y, accel.z);
if(Serial.available() > 0){
return (0);
}
}
return 0;
}
/*
test the DCM code, printing Euler angles
*/
static int8_t
test_dcm_eulers(uint8_t argc, const Menu::arg *argv)
{ {
//Serial.printf_P(PSTR("Calibrating.")); //Serial.printf_P(PSTR("Calibrating."));
//dcm.kp_yaw(0.02); //dcm.kp_yaw(0.02);
//dcm.ki_yaw(0); //dcm.ki_yaw(0);
imu.init(IMU::WARM_START, delay, &timer_scheduler);
report_imu(); report_imu();
imu.init_gyro(); imu.init_gyro();
report_imu(); report_imu();