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fixed Oilpan test for new library structure

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This commit is contained in:
Andrew Tridgell 2012-01-18 20:31:58 +11:00
parent eeff2cb662
commit 4b8e2e701c
1 changed files with 15 additions and 3 deletions
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18
libraries/AP_IMU/examples/IMU_Oilpan_test/IMU_Oilpan_test.pde
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@ -14,15 +14,26 @@
#include <AP_Math.h> #include <AP_Math.h>
#include <AP_Common.h> #include <AP_Common.h>
#define A_LED_PIN 27
#define C_LED_PIN 25
#define LED_ON LOW
#define LED_OFF HIGH
FastSerialPort(Serial, 0); FastSerialPort(Serial, 0);
Arduino_Mega_ISR_Registry isr_registry; Arduino_Mega_ISR_Registry isr_registry;
AP_TimerPeriodicProcess adc_scheduler; AP_TimerProcess adc_scheduler;
AP_ADC_ADS7844 adc; AP_ADC_ADS7844 adc;
AP_InertialSensor_Oilpan oilpan_ins(&adc); AP_InertialSensor_Oilpan oilpan_ins(&adc);
AP_IMU_INS imu(&oilpan_ins,0); AP_IMU_INS imu(&oilpan_ins,0);
static void flash_leds(bool on)
{
digitalWrite(A_LED_PIN, on?LED_OFF:LED_ON);
digitalWrite(C_LED_PIN, on?LED_ON:LED_OFF);
}
void setup(void) void setup(void)
{ {
Serial.begin(115200); Serial.begin(115200);
@ -32,7 +43,8 @@ void setup(void)
adc_scheduler.init(&isr_registry); adc_scheduler.init(&isr_registry);
/* Should also call ins.init and adc.init */ /* Should also call ins.init and adc.init */
imu.init(IMU::COLD_START, delay, &adc_scheduler); imu.init(IMU::COLD_START, delay, flash_leds, &adc_scheduler);
imu.init_accel(delay, flash_leds);
} }
void loop(void) void loop(void)
@ -45,6 +57,6 @@ void loop(void)
accel = imu.get_accel(); accel = imu.get_accel();
gyro = imu.get_gyro(); gyro = imu.get_gyro();
Serial.printf("AX: 0x%4.4f AY: 0x%4.4f AZ: 0x%4.4f GX: 0x%4.4f GY: 0x%4.4f GZ: 0x%4.4f\n", Serial.printf("AX: %4.4f AY: %4.4f AZ: %4.4f GX: %4.4f GY: %4.4f GZ: %4.4f\n",
accel.x, accel.y, accel.z, gyro.x, gyro.y, gyro.z); accel.x, accel.y, accel.z, gyro.x, gyro.y, gyro.z);
} }