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purple: added ins test

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this tests the InertialSensor library API
This commit is contained in:
Pat Hickey 2011-11-13 14:51:43 +11:00
parent f1bad83d21
commit 63393b206a
1 changed files with 39 additions and 0 deletions
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39
ArduCopter/test.pde
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@ -11,6 +11,7 @@ static int8_t test_radio(uint8_t argc, const Menu::arg *argv);
static int8_t test_gps(uint8_t argc, const Menu::arg *argv); static int8_t test_gps(uint8_t argc, const Menu::arg *argv);
//static int8_t test_tri(uint8_t argc, const Menu::arg *argv); //static int8_t test_tri(uint8_t argc, const Menu::arg *argv);
//static int8_t test_adc(uint8_t argc, const Menu::arg *argv); //static int8_t test_adc(uint8_t argc, const Menu::arg *argv);
static int8_t test_ins(uint8_t argc, const Menu::arg *argv);
static int8_t test_imu(uint8_t argc, const Menu::arg *argv); static int8_t test_imu(uint8_t argc, const Menu::arg *argv);
//static int8_t test_dcm(uint8_t argc, const Menu::arg *argv); //static int8_t test_dcm(uint8_t argc, const Menu::arg *argv);
//static int8_t test_omega(uint8_t argc, const Menu::arg *argv); //static int8_t test_omega(uint8_t argc, const Menu::arg *argv);
@ -62,6 +63,7 @@ const struct Menu::command test_menu_commands[] PROGMEM = {
#if HIL_MODE != HIL_MODE_ATTITUDE #if HIL_MODE != HIL_MODE_ATTITUDE
// {"adc", test_adc}, // {"adc", test_adc},
#endif #endif
{"ins", test_ins},
{"imu", test_imu}, {"imu", test_imu},
//{"dcm", test_dcm}, //{"dcm", test_dcm},
//{"omega", test_omega}, //{"omega", test_omega},
@ -413,6 +415,43 @@ static int8_t
#endif #endif
*/ */
static int8_t
test_ins(uint8_t argc, const Menu::arg *argv)
{
float gyro[3], accel[3], temp;
print_hit_enter();
Serial.printf_P(PSTR("InertialSensor\n"));
delay(1000);
ins.init(&timer_scheduler);
delay(50);
while(1){
ins.update();
ins.get_gyros(gyro);
ins.get_accels(accel);
temp = ins.temperature();
Serial.printf_P(PSTR("g"));
for (int i = 0; i < 3; i++) {
Serial.printf_P(PSTR(" %7.4f"), gyro[i]);
}
Serial.printf_P(PSTR(" a"));
for (int i = 0; i < 3; i++) {
Serial.printf_P(PSTR(" %7.4f"),accel[i]);
}
Serial.printf_P(PSTR(" t %7.4f \n"), temp);
delay(40);
if(Serial.available() > 0){
return (0);
}
}
}
static int8_t static int8_t
test_imu(uint8_t argc, const Menu::arg *argv) test_imu(uint8_t argc, const Menu::arg *argv)
{ {