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compass: show timing in compass test

This commit is contained in:
Andrew Tridgell 2011-12-28 21:44:18 +11:00
parent c448e85ed1
commit 5f0e070f4e
1 changed files with 16 additions and 19 deletions
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35
libraries/AP_Compass/examples/AP_Compass_test/AP_Compass_test.pde
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@ -25,6 +25,9 @@ void setup()
Serial.println("Compass library test (HMC5843 and HMC5883L)");
I2c.begin();
I2c.timeOut(20);
// I2c.setSpeed(true);
if (!compass.init()) {
Serial.println("compass initialisation failed!");
while (1) ;
@ -51,17 +54,18 @@ void setup()
}
delay(3000);
timer = millis();
timer = micros();
}
void loop()
{
static float min[3], max[3], offset[3];
if((millis()- timer) > 100)
if((micros()- timer) > 100000L)
{
timer = millis();
timer = micros();
compass.read();
unsigned long read_time = micros() - timer;
if (!compass.healthy) {
Serial.println("not healthy");
@ -91,24 +95,17 @@ void loop()
offset[2] = -(max[2]+min[2])/2;
// display all to user
Serial.print("Heading:");
Serial.print(ToDeg(compass.heading));
Serial.print(" (");
Serial.print(compass.mag_x);
Serial.print(",");
Serial.print(compass.mag_y);
Serial.print(",");
Serial.print(compass.mag_z);
Serial.print(")");
Serial.printf("Heading: %.2f (%3u,%3u,%3u) ",
ToDeg(compass.heading),
compass.mag_x,
compass.mag_y,
compass.mag_z);
// display offsets
Serial.print("\t offsets(");
Serial.print(offset[0]);
Serial.print(",");
Serial.print(offset[1]);
Serial.print(",");
Serial.print(offset[2]);
Serial.print(")");
Serial.printf("\t offsets(%.2f, %.2f, %.2f)",
offset[0], offset[1], offset[2]);
Serial.printf(" t=%u", (unsigned)read_time);
Serial.println();
}