Mirror
/
ardupilot
mirror of https://github.com/ArduPilot/ardupilot
5
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity

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
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

35
libraries/AP_Compass/examples/AP_Compass_test/AP_Compass_test.pde
View File

@ -25,6 +25,9 @@ void setup()
Serial.println("Compass library test (HMC5843 and HMC5883L)"); Serial.println("Compass library test (HMC5843 and HMC5883L)");
I2c.begin(); I2c.begin();
I2c.timeOut(20); I2c.timeOut(20);
// I2c.setSpeed(true);
if (!compass.init()) { if (!compass.init()) {
Serial.println("compass initialisation failed!"); Serial.println("compass initialisation failed!");
while (1) ; while (1) ;
@ -51,17 +54,18 @@ void setup()
} }
delay(3000); delay(3000);
timer = millis(); timer = micros();
} }
void loop() void loop()
{ {
static float min[3], max[3], offset[3]; static float min[3], max[3], offset[3];
if((millis()- timer) > 100) if((micros()- timer) > 100000L)
{ {
timer = millis(); timer = micros();
compass.read(); compass.read();
unsigned long read_time = micros() - timer;
if (!compass.healthy) { if (!compass.healthy) {
Serial.println("not healthy"); Serial.println("not healthy");
@ -91,24 +95,17 @@ void loop()
offset[2] = -(max[2]+min[2])/2; offset[2] = -(max[2]+min[2])/2;
// display all to user // display all to user
Serial.print("Heading:"); Serial.printf("Heading: %.2f (%3u,%3u,%3u) ",
Serial.print(ToDeg(compass.heading)); ToDeg(compass.heading),
Serial.print(" ("); compass.mag_x,
Serial.print(compass.mag_x); compass.mag_y,
Serial.print(","); compass.mag_z);
Serial.print(compass.mag_y);
Serial.print(",");
Serial.print(compass.mag_z);
Serial.print(")");
// display offsets // display offsets
Serial.print("\t offsets("); Serial.printf("\t offsets(%.2f, %.2f, %.2f)",
Serial.print(offset[0]); offset[0], offset[1], offset[2]);
Serial.print(",");
Serial.print(offset[1]); Serial.printf(" t=%u", (unsigned)read_time);
Serial.print(",");
Serial.print(offset[2]);
Serial.print(")");
Serial.println(); Serial.println();
} }