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test: removed the broken gyro test and merge it into the imu test

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the gyro test assumed APM1 hardware, and would hang on APM2. The imu
test can just as easily display gyro and accelerometer data as well as
roll/pitch/yaw, so combine it in one test
This commit is contained in:
Andrew Tridgell 2011-12-03 14:07:19 +11:00
parent 1ab20928e7
commit 4a057aefa0
1 changed files with 8 additions and 37 deletions
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45
ArduPlane/test.pde
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@ -13,7 +13,6 @@ static int8_t test_gps(uint8_t argc, const Menu::arg *argv);
static int8_t test_adc(uint8_t argc, const Menu::arg *argv);
#endif
static int8_t test_imu(uint8_t argc, const Menu::arg *argv);
static int8_t test_gyro(uint8_t argc, const Menu::arg *argv);
static int8_t test_battery(uint8_t argc, const Menu::arg *argv);
static int8_t test_current(uint8_t argc, const Menu::arg *argv);
static int8_t test_relay(uint8_t argc, const Menu::arg *argv);
@ -57,7 +56,6 @@ static const struct Menu::command test_menu_commands[] PROGMEM = {
{"gps", test_gps},
{"rawgps", test_rawgps},
{"imu", test_imu},
{"gyro", test_gyro},
{"airspeed", test_airspeed},
{"airpressure", test_pressure},
{"compass", test_mag},
@ -66,7 +64,6 @@ static const struct Menu::command test_menu_commands[] PROGMEM = {
{"adc", test_adc},
{"gps", test_gps},
{"imu", test_imu},
{"gyro", test_gyro},
{"compass", test_mag},
#elif HIL_MODE == HIL_MODE_ATTITUDE
#endif
@ -535,10 +532,14 @@ test_imu(uint8_t argc, const Menu::arg *argv)
// We are using the IMU
// ---------------------
Serial.printf_P(PSTR("r: %d\tp: %d\t y: %d\n"),
(int)dcm.roll_sensor / 100,
(int)dcm.pitch_sensor / 100,
(uint16_t)dcm.yaw_sensor / 100);
Vector3f gyros = imu.get_gyro();
Vector3f accels = imu.get_accel();
Serial.printf_P(PSTR("r:%4d p:%4d y:%3d g=(%5.1f %5.1f %5.1f) a=(%5.1f %5.1f %5.1f)\n"),
(int)dcm.roll_sensor / 100,
(int)dcm.pitch_sensor / 100,
(uint16_t)dcm.yaw_sensor / 100,
gyros.x, gyros.y, gyros.z,
accels.x, accels.y, accels.z);
}
if(Serial.available() > 0){
return (0);
@ -547,36 +548,6 @@ test_imu(uint8_t argc, const Menu::arg *argv)
}
static int8_t
test_gyro(uint8_t argc, const Menu::arg *argv)
{
print_hit_enter();
isr_registry.init();
timer_scheduler.init(&isr_registry);
adc.Init(&timer_scheduler);
delay(1000);
Serial.printf_P(PSTR("Gyro | Accel\n"));
delay(1000);
while(1){
imu.update(); // need this because we are not calling the DCM
Vector3f gyros = imu.get_gyro();
Vector3f accels = imu.get_accel();
Serial.printf_P(PSTR("%d\t%d\t%d\t|\t%d\t%d\t%d\n"),
(int)gyros.x,
(int)gyros.y,
(int)gyros.z,
(int)accels.x,
(int)accels.y,
(int)accels.z);
delay(100);
if(Serial.available() > 0){
return (0);
}
}
}
static int8_t
test_mag(uint8_t argc, const Menu::arg *argv)
{