Mirror/ardupilot
5
0
Fork 0
mirror of https://github.com/ArduPilot/ardupilot synced 2025-01-11 10:28:29 -04:00
Code Issues Packages Projects Releases Wiki Activity

uncrustify libraries/AP_AHRS/examples/AHRS_Test/AHRS_Test.pde

Browse Source
This commit is contained in:
uncrustify 2012-08-16 22:40:30 -07:00 committed by Pat Hickey
parent 520ab058a7
commit 4846ba119e
1 changed files with 74 additions and 74 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

148
libraries/AP_AHRS/examples/AHRS_Test/AHRS_Test.pde
View File

@ -32,19 +32,19 @@ FastSerialPort0(Serial);
FastSerialPort1(Serial1); FastSerialPort1(Serial1);
Arduino_Mega_ISR_Registry isr_registry; Arduino_Mega_ISR_Registry isr_registry;
AP_TimerProcess scheduler; AP_TimerProcess scheduler;
#ifdef DESKTOP_BUILD #ifdef DESKTOP_BUILD
AP_Compass_HIL compass; AP_Compass_HIL compass;
#else #else
AP_Compass_HMC5843 compass; AP_Compass_HMC5843 compass;
#endif #endif
#ifdef APM2_HARDWARE #ifdef APM2_HARDWARE
AP_InertialSensor_MPU6000 ins( 53 ); AP_InertialSensor_MPU6000 ins( 53 );
# else # else
AP_ADC_ADS7844 adc; AP_ADC_ADS7844 adc;
AP_InertialSensor_Oilpan ins( &adc ); AP_InertialSensor_Oilpan ins( &adc );
#endif #endif
static GPS *g_gps; static GPS *g_gps;
@ -58,109 +58,109 @@ AP_AHRS_DCM ahrs(&imu, g_gps);
//AP_AHRS_Quaternion ahrs(&imu, g_gps); //AP_AHRS_Quaternion ahrs(&imu, g_gps);
//AP_AHRS_MPU6000 ahrs(&imu, g_gps, &ins); // only works with APM2 //AP_AHRS_MPU6000 ahrs(&imu, g_gps, &ins); // only works with APM2
AP_Baro_BMP085_HIL barometer; AP_Baro_BMP085_HIL barometer;
#ifdef APM2_HARDWARE #ifdef APM2_HARDWARE
# define A_LED_PIN 27 # define A_LED_PIN 27
# define C_LED_PIN 25 # define C_LED_PIN 25
# define LED_ON LOW # define LED_ON LOW
# define LED_OFF HIGH # define LED_OFF HIGH
# define MAG_ORIENTATION AP_COMPASS_APM2_SHIELD # define MAG_ORIENTATION AP_COMPASS_APM2_SHIELD
#else #else
# define A_LED_PIN 37 # define A_LED_PIN 37
# define C_LED_PIN 35 # define C_LED_PIN 35
# define LED_ON HIGH # define LED_ON HIGH
# define LED_OFF LOW # define LED_OFF LOW
# define MAG_ORIENTATION AP_COMPASS_COMPONENTS_DOWN_PINS_FORWARD # define MAG_ORIENTATION AP_COMPASS_COMPONENTS_DOWN_PINS_FORWARD
#endif #endif
static void flash_leds(bool on) static void flash_leds(bool on)
{ {
digitalWrite(A_LED_PIN, on?LED_OFF:LED_ON); digitalWrite(A_LED_PIN, on ? LED_OFF : LED_ON);
digitalWrite(C_LED_PIN, on?LED_ON:LED_OFF); digitalWrite(C_LED_PIN, on ? LED_ON : LED_OFF);
} }
void setup(void) void setup(void)
{ {
Serial.begin(115200); Serial.begin(115200);
Serial.println("Starting up..."); Serial.println("Starting up...");
#ifndef DESKTOP_BUILD #ifndef DESKTOP_BUILD
I2c.begin(); I2c.begin();
I2c.timeOut(5); I2c.timeOut(5);
I2c.setSpeed(true); I2c.setSpeed(true);
#endif #endif
SPI.begin(); SPI.begin();
SPI.setClockDivider(SPI_CLOCK_DIV16); SPI.setClockDivider(SPI_CLOCK_DIV16);
#ifdef APM2_HARDWARE #ifdef APM2_HARDWARE
// we need to stop the barometer from holding the SPI bus // we need to stop the barometer from holding the SPI bus
pinMode(40, OUTPUT); pinMode(40, OUTPUT);
digitalWrite(40, HIGH); digitalWrite(40, HIGH);
#endif #endif
isr_registry.init(); isr_registry.init();
scheduler.init(&isr_registry); scheduler.init(&isr_registry);
imu.init(IMU::COLD_START, delay, flash_leds, &scheduler); imu.init(IMU::COLD_START, delay, flash_leds, &scheduler);
imu.init_accel(delay, flash_leds); imu.init_accel(delay, flash_leds);
compass.set_orientation(MAG_ORIENTATION); compass.set_orientation(MAG_ORIENTATION);
ahrs.init(); ahrs.init();
if( compass.init() ) { if( compass.init() ) {
Serial.printf("Enabling compass\n"); Serial.printf("Enabling compass\n");
ahrs.set_compass(&compass); ahrs.set_compass(&compass);
} else { } else {
Serial.printf("No compass detected\n"); Serial.printf("No compass detected\n");
} }
g_gps = &g_gps_driver; g_gps = &g_gps_driver;
#if WITH_GPS #if WITH_GPS
g_gps->init(); g_gps->init();
#endif #endif
} }
void loop(void) void loop(void)
{ {
static uint16_t counter; static uint16_t counter;
static uint32_t last_t, last_print, last_compass; static uint32_t last_t, last_print, last_compass;
uint32_t now = micros(); uint32_t now = micros();
float heading = 0; float heading = 0;
if (last_t == 0) { if (last_t == 0) {
last_t = now; last_t = now;
return; return;
} }
last_t = now; last_t = now;
if (now - last_compass > 100*1000UL && if (now - last_compass > 100*1000UL &&
compass.read()) { compass.read()) {
heading = compass.calculate_heading(ahrs.get_dcm_matrix()); heading = compass.calculate_heading(ahrs.get_dcm_matrix());
// read compass at 10Hz // read compass at 10Hz
last_compass = now; last_compass = now;
#if WITH_GPS #if WITH_GPS
g_gps->update(); g_gps->update();
#endif #endif
} }
ahrs.update(); ahrs.update();
counter++; counter++;
if (now - last_print >= 0.5e6) { if (now - last_print >= 0.5e6) {
Vector3f drift = ahrs.get_gyro_drift(); Vector3f drift = ahrs.get_gyro_drift();
Serial.printf_P(PSTR("r:%4.1f p:%4.1f y:%4.1f drift=(%5.1f %5.1f %5.1f) hdg=%.1f rate=%.1f\n"), Serial.printf_P(PSTR("r:%4.1f p:%4.1f y:%4.1f drift=(%5.1f %5.1f %5.1f) hdg=%.1f rate=%.1f\n"),
ToDeg(ahrs.roll), ToDeg(ahrs.roll),
ToDeg(ahrs.pitch), ToDeg(ahrs.pitch),
ToDeg(ahrs.yaw), ToDeg(ahrs.yaw),
ToDeg(drift.x), ToDeg(drift.x),
ToDeg(drift.y), ToDeg(drift.y),
ToDeg(drift.z), ToDeg(drift.z),
compass.use_for_yaw()?ToDeg(heading):0.0, compass.use_for_yaw() ? ToDeg(heading) : 0.0,
(1.0e6*counter)/(now-last_print)); (1.0e6*counter)/(now-last_print));
last_print = now; last_print = now;
counter = 0; counter = 0;
} }
} }