AP_NMEA_Output: add example

libraries/AP_NMEA_Output/examples/NMEA_Output/nmea_output.cpp

@@ -0,0 +1,106 @@
+//
+// Simple test for the AP_AHRS NMEA output
+//
+
+#include <AP_AHRS/AP_AHRS.h>
+#include <AP_HAL/AP_HAL.h>
+#include <AP_Param/AP_Param.h>
+#include <AP_BoardConfig/AP_BoardConfig.h>
+#include <GCS_MAVLink/GCS_Dummy.h>
+#include <AP_RangeFinder/AP_RangeFinder.h>
+#include <AP_Logger/AP_Logger.h>
+#include <AP_GPS/AP_GPS.h>
+#include <AP_Baro/AP_Baro.h>
+#include <AP_NMEA_Output/AP_NMEA_Output.h>
+#include <AP_SerialManager/AP_SerialManager.h>
+
+void setup();
+void loop();
+
+const AP_HAL::HAL& hal = AP_HAL::get_HAL();
+
+
+
+class Parameters {
+public:
+
+    enum {
+        k_param_serial_manager = 1, // serial manager library
+    };
+};
+
+static AP_SerialManager serial_manager;
+
+#define GOBJECT(v, name, class) { AP_PARAM_GROUP, name, Parameters::k_param_ ## v, (const void *)&v, {group_info : class::var_info} }
+const struct AP_Param::Info var_info[] = {
+//    GOBJECT(serial_manager, "SERIAL",   AP_SerialManager),
+    { AP_PARAM_GROUP, "SERIAL", Parameters::k_param_serial_manager, (const void *)&serial_manager, {group_info : AP_SerialManager::var_info} },
+    AP_VAREND
+};
+
+static AP_BoardConfig board_config;
+static AP_InertialSensor ins;
+static Compass compass;
+static AP_Param param{var_info};
+static AP_GPS gps;
+static AP_Baro barometer;
+AP_Int32 logger_bitmask;
+static AP_Logger logger{logger_bitmask};
+
+class DummyVehicle {
+public:
+    RangeFinder sonar;
+    NavEKF2 EKF2{&ahrs, sonar};
+    NavEKF3 EKF3{&ahrs, sonar};
+    AP_AHRS_NavEKF ahrs{EKF2, EKF3, AP_AHRS_NavEKF::FLAG_ALWAYS_USE_EKF};
+};
+
+static DummyVehicle vehicle;
+
+void setup(void)
+{
+    board_config.init();
+    if (!AP_Param::setup()) {
+        hal.console->printf("Failed to call setup\n");
+        while(true);
+    }
+    if (!AP_Param::set_by_name("SERIAL0_PROTOCOL", AP_SerialManager::SerialProtocol_NMEAOutput)) {
+        hal.console->printf("Failed to set SERIAL0_PROTOCOL\n");
+        while(true);
+    }
+    ins.init(100);
+    serial_manager.init_console();
+    serial_manager.init();
+    vehicle.ahrs.init();
+
+    compass.init();
+    if(compass.read()) {
+        hal.console->printf("Enabling compass\n");
+        vehicle.ahrs.set_compass(&compass);
+    } else {
+        hal.console->printf("No compass detected\n");
+    }
+    gps.init(serial_manager);
+    AP::rtc().set_utc_usec(1546300800000, AP_RTC::source_type::SOURCE_GPS);
+}
+
+void loop(void)
+{
+    static uint32_t last_compass;
+    const uint32_t now = AP_HAL::micros();
+
+    // read compass at 10Hz
+    if (now - last_compass > 100 * 1000UL &&
+        compass.read()) {
+        last_compass = now;
+    }
+
+    vehicle.ahrs.update();
+}
+
+const AP_Param::GroupInfo GCS_MAVLINK_Parameters::var_info[] = {
+        AP_GROUPEND
+};
+GCS_Dummy _gcs;
+
+AP_HAL_MAIN();

libraries/AP_NMEA_Output/examples/NMEA_Output/wscript

@@ -0,0 +1,7 @@
+#!/usr/bin/env python
+# encoding: utf-8
+
+def build(bld):
+    bld.ap_example(
+        use='ap',
+    )