mirror of
https://github.com/ArduPilot/ardupilot
synced 2025-01-22 00:28:30 -04:00
Rover: test.cpp correct whitespace, remove tabs
This commit is contained in:
Pierre Kancir
Randy Mackay
parent
52aa6b5767
commit
7131b20b81
@ -7,23 +7,23 @@
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// User enters the string in the console to call the functions on the right.
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// See class Menu in AP_Common for implementation details
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static const struct Menu::command test_menu_commands[] = {
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{"pwm", MENU_FUNC(test_radio_pwm)},
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{"radio", MENU_FUNC(test_radio)},
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{"passthru", MENU_FUNC(test_passthru)},
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{"failsafe", MENU_FUNC(test_failsafe)},
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{"relay", MENU_FUNC(test_relay)},
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{"waypoints", MENU_FUNC(test_wp)},
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{"modeswitch", MENU_FUNC(test_modeswitch)},
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{"pwm", MENU_FUNC(test_radio_pwm)},
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{"radio", MENU_FUNC(test_radio)},
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{"passthru", MENU_FUNC(test_passthru)},
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{"failsafe", MENU_FUNC(test_failsafe)},
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{"relay", MENU_FUNC(test_relay)},
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{"waypoints", MENU_FUNC(test_wp)},
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{"modeswitch", MENU_FUNC(test_modeswitch)},
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// Tests below here are for hardware sensors only present
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// when real sensors are attached or they are emulated
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{"gps", MENU_FUNC(test_gps)},
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{"ins", MENU_FUNC(test_ins)},
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{"sonartest", MENU_FUNC(test_sonar)},
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{"compass", MENU_FUNC(test_mag)},
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{"logging", MENU_FUNC(test_logging)},
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// Tests below here are for hardware sensors only present
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// when real sensors are attached or they are emulated
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{"gps", MENU_FUNC(test_gps)},
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{"ins", MENU_FUNC(test_ins)},
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{"sonartest", MENU_FUNC(test_sonar)},
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{"compass", MENU_FUNC(test_mag)},
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{"logging", MENU_FUNC(test_logging)},
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#if CONFIG_HAL_BOARD == HAL_BOARD_PX4 || CONFIG_HAL_BOARD == HAL_BOARD_VRBRAIN
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{"shell", MENU_FUNC(test_shell)},
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{"shell", MENU_FUNC(test_shell)},
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#endif
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};
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@ -32,60 +32,60 @@ MENU(test_menu, "test", test_menu_commands);
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int8_t Rover::test_mode(uint8_t argc, const Menu::arg *argv)
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{
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cliSerial->printf("Test Mode\n\n");
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test_menu.run();
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cliSerial->printf("Test Mode\n\n");
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test_menu.run();
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return 0;
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}
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void Rover::print_hit_enter()
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{
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cliSerial->printf("Hit Enter to exit.\n\n");
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cliSerial->printf("Hit Enter to exit.\n\n");
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}
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int8_t Rover::test_radio_pwm(uint8_t argc, const Menu::arg *argv)
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{
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print_hit_enter();
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delay(1000);
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print_hit_enter();
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delay(1000);
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while(1){
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delay(20);
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while (1) {
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delay(20);
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// Filters radio input - adjust filters in the radio.cpp file
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// ----------------------------------------------------------
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read_radio();
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// Filters radio input - adjust filters in the radio.cpp file
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// ----------------------------------------------------------
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read_radio();
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cliSerial->printf("IN:\t1: %d\t2: %d\t3: %d\t4: %d\t5: %d\t6: %d\t7: %d\t8: %d\n",
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channel_steer->get_radio_in(),
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g.rc_2.get_radio_in(),
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channel_throttle->get_radio_in(),
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g.rc_4.get_radio_in(),
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g.rc_5.get_radio_in(),
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g.rc_6.get_radio_in(),
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g.rc_7.get_radio_in(),
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g.rc_8.get_radio_in());
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cliSerial->printf("IN:\t1: %d\t2: %d\t3: %d\t4: %d\t5: %d\t6: %d\t7: %d\t8: %d\n",
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channel_steer->get_radio_in(),
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g.rc_2.get_radio_in(),
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channel_throttle->get_radio_in(),
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g.rc_4.get_radio_in(),
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g.rc_5.get_radio_in(),
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g.rc_6.get_radio_in(),
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g.rc_7.get_radio_in(),
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g.rc_8.get_radio_in());
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if(cliSerial->available() > 0){
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return (0);
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}
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}
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if (cliSerial->available() > 0) {
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return (0);
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}
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}
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}
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int8_t Rover::test_passthru(uint8_t argc, const Menu::arg *argv)
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{
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print_hit_enter();
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delay(1000);
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print_hit_enter();
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delay(1000);
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while(1){
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delay(20);
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while (1) {
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delay(20);
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// New radio frame? (we could use also if((millis()- timer) > 20)
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if (hal.rcin->new_input()) {
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cliSerial->print("CH:");
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for(int i = 0; i < 8; i++){
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cliSerial->print(hal.rcin->read(i)); // Print channel values
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for (int i = 0; i < 8; i++) {
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cliSerial->print(hal.rcin->read(i)); // Print channel values
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cliSerial->print(",");
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hal.rcout->write(i, hal.rcin->read(i)); // Copy input to Servos
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hal.rcout->write(i, hal.rcin->read(i)); // Copy input to Servos
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}
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cliSerial->println();
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}
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@ -98,131 +98,131 @@ int8_t Rover::test_passthru(uint8_t argc, const Menu::arg *argv)
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int8_t Rover::test_radio(uint8_t argc, const Menu::arg *argv)
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{
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print_hit_enter();
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delay(1000);
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print_hit_enter();
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delay(1000);
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// read the radio to set trims
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// ---------------------------
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trim_radio();
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// read the radio to set trims
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// ---------------------------
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trim_radio();
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while(1){
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delay(20);
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read_radio();
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while (1) {
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delay(20);
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read_radio();
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channel_steer->calc_pwm();
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channel_throttle->calc_pwm();
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channel_steer->calc_pwm();
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channel_throttle->calc_pwm();
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// write out the servo PWM values
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// ------------------------------
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set_servos();
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// write out the servo PWM values
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// ------------------------------
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set_servos();
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cliSerial->printf("IN 1: %d\t2: %d\t3: %d\t4: %d\t5: %d\t6: %d\t7: %d\t8: %d\n",
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channel_steer->get_control_in(),
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g.rc_2.get_control_in(),
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channel_throttle->get_control_in(),
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g.rc_4.get_control_in(),
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g.rc_5.get_control_in(),
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g.rc_6.get_control_in(),
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g.rc_7.get_control_in(),
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g.rc_8.get_control_in());
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cliSerial->printf("IN 1: %d\t2: %d\t3: %d\t4: %d\t5: %d\t6: %d\t7: %d\t8: %d\n",
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channel_steer->get_control_in(),
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g.rc_2.get_control_in(),
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channel_throttle->get_control_in(),
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g.rc_4.get_control_in(),
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g.rc_5.get_control_in(),
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g.rc_6.get_control_in(),
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g.rc_7.get_control_in(),
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g.rc_8.get_control_in());
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if(cliSerial->available() > 0){
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return (0);
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}
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}
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if (cliSerial->available() > 0) {
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return (0);
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}
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}
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}
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int8_t Rover::test_failsafe(uint8_t argc, const Menu::arg *argv)
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{
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uint8_t fail_test = 0;
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print_hit_enter();
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for(int i = 0; i < 50; i++){
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delay(20);
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read_radio();
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}
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uint8_t fail_test = 0;
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print_hit_enter();
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for (int i = 0; i < 50; i++) {
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delay(20);
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read_radio();
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}
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// read the radio to set trims
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// ---------------------------
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trim_radio();
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// read the radio to set trims
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// ---------------------------
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trim_radio();
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oldSwitchPosition = readSwitch();
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oldSwitchPosition = readSwitch();
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cliSerial->println("Unplug battery, throttle in neutral, turn off radio.");
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while(channel_throttle->get_control_in() > 0){
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delay(20);
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read_radio();
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}
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cliSerial->println("Unplug battery, throttle in neutral, turn off radio.");
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while (channel_throttle->get_control_in() > 0) {
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delay(20);
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read_radio();
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}
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while(1){
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delay(20);
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read_radio();
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while (1) {
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delay(20);
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read_radio();
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if(channel_throttle->get_control_in() > 0){
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cliSerial->printf("THROTTLE CHANGED %d \n", channel_throttle->get_control_in());
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fail_test++;
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}
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if (channel_throttle->get_control_in() > 0) {
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cliSerial->printf("THROTTLE CHANGED %d \n", channel_throttle->get_control_in());
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fail_test++;
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}
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if (oldSwitchPosition != readSwitch()){
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cliSerial->print("CONTROL MODE CHANGED: ");
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if (oldSwitchPosition != readSwitch()){
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cliSerial->print("CONTROL MODE CHANGED: ");
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print_mode(cliSerial, readSwitch());
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cliSerial->println();
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fail_test++;
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}
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fail_test++;
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}
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if(throttle_failsafe_active()) {
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cliSerial->printf("THROTTLE FAILSAFE ACTIVATED: %d, ", channel_throttle->get_radio_in());
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if (throttle_failsafe_active()) {
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cliSerial->printf("THROTTLE FAILSAFE ACTIVATED: %d, ", channel_throttle->get_radio_in());
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print_mode(cliSerial, readSwitch());
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cliSerial->println();
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fail_test++;
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}
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fail_test++;
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}
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if(fail_test > 0){
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return (0);
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}
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if(cliSerial->available() > 0){
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cliSerial->println("LOS caused no change in APM.");
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return (0);
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}
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}
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if (fail_test > 0) {
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return (0);
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}
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if (cliSerial->available() > 0) {
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cliSerial->println("LOS caused no change in APM.");
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return (0);
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}
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}
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}
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int8_t Rover::test_relay(uint8_t argc, const Menu::arg *argv)
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{
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print_hit_enter();
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delay(1000);
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print_hit_enter();
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delay(1000);
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while(1){
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cliSerial->println("Relay on");
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relay.on(0);
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delay(3000);
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if(cliSerial->available() > 0){
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return (0);
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}
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while (1) {
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cliSerial->println("Relay on");
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relay.on(0);
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delay(3000);
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if (cliSerial->available() > 0) {
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return (0);
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}
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cliSerial->println("Relay off");
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relay.off(0);
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delay(3000);
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if(cliSerial->available() > 0){
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return (0);
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}
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}
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cliSerial->println("Relay off");
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relay.off(0);
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delay(3000);
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if (cliSerial->available() > 0) {
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return (0);
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}
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}
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}
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int8_t Rover::test_wp(uint8_t argc, const Menu::arg *argv)
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{
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delay(1000);
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delay(1000);
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cliSerial->printf("%u waypoints\n", (unsigned)mission.num_commands());
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cliSerial->printf("Hit radius: %f\n", (double)g.waypoint_radius.get());
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cliSerial->printf("%u waypoints\n", (unsigned)mission.num_commands());
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cliSerial->printf("Hit radius: %f\n", (double)g.waypoint_radius.get());
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for(uint8_t i = 0; i < mission.num_commands(); i++){
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for (uint8_t i = 0; i < mission.num_commands(); i++) {
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AP_Mission::Mission_Command temp_cmd;
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if (mission.read_cmd_from_storage(i,temp_cmd)) {
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if (mission.read_cmd_from_storage(i, temp_cmd)) {
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test_wp_print(temp_cmd);
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}
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}
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}
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return (0);
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return (0);
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}
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void Rover::test_wp_print(const AP_Mission::Mission_Command& cmd)
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@ -239,24 +239,24 @@ void Rover::test_wp_print(const AP_Mission::Mission_Command& cmd)
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int8_t Rover::test_modeswitch(uint8_t argc, const Menu::arg *argv)
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{
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print_hit_enter();
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delay(1000);
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print_hit_enter();
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delay(1000);
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cliSerial->print("Control CH ");
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cliSerial->print("Control CH ");
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cliSerial->println(MODE_CHANNEL, BASE_DEC);
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cliSerial->println(MODE_CHANNEL, BASE_DEC);
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while(1){
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delay(20);
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uint8_t switchPosition = readSwitch();
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if (oldSwitchPosition != switchPosition){
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cliSerial->printf("Position %d\n", switchPosition);
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oldSwitchPosition = switchPosition;
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}
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if(cliSerial->available() > 0){
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return (0);
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}
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}
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while (1) {
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delay(20);
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uint8_t switchPosition = readSwitch();
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if (oldSwitchPosition != switchPosition){
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cliSerial->printf("Position %d\n", switchPosition);
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oldSwitchPosition = switchPosition;
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}
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if (cliSerial->available() > 0) {
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return (0);
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}
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}
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}
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/*
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@ -264,7 +264,7 @@ int8_t Rover::test_modeswitch(uint8_t argc, const Menu::arg *argv)
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*/
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int8_t Rover::test_logging(uint8_t argc, const Menu::arg *argv)
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{
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cliSerial->println("Testing dataflash logging");
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cliSerial->println("Testing dataflash logging");
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DataFlash.ShowDeviceInfo(cliSerial);
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return 0;
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}
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@ -279,7 +279,7 @@ int8_t Rover::test_gps(uint8_t argc, const Menu::arg *argv)
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delay(1000);
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uint32_t last_message_time_ms = 0;
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while(1) {
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while (1) {
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delay(100);
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gps.update();
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@ -295,7 +295,7 @@ int8_t Rover::test_gps(uint8_t argc, const Menu::arg *argv)
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} else {
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cliSerial->print(".");
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}
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if(cliSerial->available() > 0) {
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if (cliSerial->available() > 0) {
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return (0);
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}
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}
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@ -303,34 +303,34 @@ int8_t Rover::test_gps(uint8_t argc, const Menu::arg *argv)
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int8_t Rover::test_ins(uint8_t argc, const Menu::arg *argv)
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{
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//cliSerial->print("Calibrating.");
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ahrs.init();
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// cliSerial->print("Calibrating.");
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ahrs.init();
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ahrs.set_fly_forward(true);
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ins.init(scheduler.get_loop_rate_hz());
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ahrs.reset();
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print_hit_enter();
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delay(1000);
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print_hit_enter();
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delay(1000);
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uint8_t medium_loopCounter = 0;
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while(1){
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while (1) {
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ins.wait_for_sample();
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ahrs.update();
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if(g.compass_enabled) {
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if (g.compass_enabled) {
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medium_loopCounter++;
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if(medium_loopCounter >= 5){
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if (medium_loopCounter >= 5) {
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compass.read();
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medium_loopCounter = 0;
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}
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}
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// We are using the IMU
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// ---------------------
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Vector3f gyros = ins.get_gyro();
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Vector3f gyros = ins.get_gyro();
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Vector3f accels = ins.get_accel();
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cliSerial->printf("r:%4d p:%4d y:%3d g=(%5.1f %5.1f %5.1f) a=(%5.1f %5.1f %5.1f)\n",
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(int)ahrs.roll_sensor / 100,
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@ -338,7 +338,7 @@ int8_t Rover::test_ins(uint8_t argc, const Menu::arg *argv)
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(uint16_t)ahrs.yaw_sensor / 100,
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(double)gyros.x, (double)gyros.y, (double)gyros.z,
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(double)accels.x, (double)accels.y, (double)accels.z);
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if(cliSerial->available() > 0){
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if (cliSerial->available() > 0) {
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return (0);
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}
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}
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@ -346,19 +346,20 @@ int8_t Rover::test_ins(uint8_t argc, const Menu::arg *argv)
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|
||||
void Rover::print_enabled(bool b)
|
||||
{
|
||||
if(b)
|
||||
cliSerial->print("en");
|
||||
else
|
||||
cliSerial->print("dis");
|
||||
if (b) {
|
||||
cliSerial->print("en");
|
||||
} else {
|
||||
cliSerial->print("dis");
|
||||
}
|
||||
cliSerial->println("abled");
|
||||
}
|
||||
|
||||
int8_t Rover::test_mag(uint8_t argc, const Menu::arg *argv)
|
||||
{
|
||||
if (!g.compass_enabled) {
|
||||
if (!g.compass_enabled) {
|
||||
cliSerial->print("Compass: ");
|
||||
print_enabled(false);
|
||||
return (0);
|
||||
print_enabled(false);
|
||||
return (0);
|
||||
}
|
||||
|
||||
if (!compass.init()) {
|
||||
@ -373,19 +374,19 @@ int8_t Rover::test_mag(uint8_t argc, const Menu::arg *argv)
|
||||
ins.init(scheduler.get_loop_rate_hz());
|
||||
ahrs.reset();
|
||||
|
||||
int counter = 0;
|
||||
int counter = 0;
|
||||
float heading = 0;
|
||||
|
||||
print_hit_enter();
|
||||
|
||||
uint8_t medium_loopCounter = 0;
|
||||
|
||||
while(1) {
|
||||
while (1) {
|
||||
ins.wait_for_sample();
|
||||
ahrs.update();
|
||||
|
||||
medium_loopCounter++;
|
||||
if(medium_loopCounter >= 5){
|
||||
if (medium_loopCounter >= 5) {
|
||||
if (compass.read()) {
|
||||
// Calculate heading
|
||||
Matrix3f m = ahrs.get_rotation_body_to_ned();
|
||||
@ -394,9 +395,9 @@ int8_t Rover::test_mag(uint8_t argc, const Menu::arg *argv)
|
||||
}
|
||||
medium_loopCounter = 0;
|
||||
}
|
||||
|
||||
|
||||
counter++;
|
||||
if (counter>20) {
|
||||
if (counter > 20) {
|
||||
if (compass.healthy()) {
|
||||
const Vector3f mag_ofs = compass.get_offsets();
|
||||
const Vector3f mag = compass.get_field();
|
||||
@ -407,7 +408,7 @@ int8_t Rover::test_mag(uint8_t argc, const Menu::arg *argv)
|
||||
} else {
|
||||
cliSerial->println("compass not healthy");
|
||||
}
|
||||
counter=0;
|
||||
counter = 0;
|
||||
}
|
||||
if (cliSerial->available() > 0) {
|
||||
break;
|
||||
@ -415,7 +416,7 @@ int8_t Rover::test_mag(uint8_t argc, const Menu::arg *argv)
|
||||
}
|
||||
|
||||
// save offsets. This allows you to get sane offset values using
|
||||
// the CLI before you go flying.
|
||||
// the CLI before you go flying.
|
||||
cliSerial->println("saving offsets");
|
||||
compass.save_offsets();
|
||||
return (0);
|
||||
@ -435,20 +436,20 @@ int8_t Rover::test_sonar(uint8_t argc, const Menu::arg *argv)
|
||||
}
|
||||
|
||||
print_hit_enter();
|
||||
|
||||
|
||||
float sonar_dist_cm_min = 0.0f;
|
||||
float sonar_dist_cm_max = 0.0f;
|
||||
float voltage_min=0.0f, voltage_max = 0.0f;
|
||||
float voltage_min = 0.0f, voltage_max = 0.0f;
|
||||
float sonar2_dist_cm_min = 0.0f;
|
||||
float sonar2_dist_cm_max = 0.0f;
|
||||
float voltage2_min=0.0f, voltage2_max = 0.0f;
|
||||
float voltage2_min = 0.0f, voltage2_max = 0.0f;
|
||||
uint32_t last_print = 0;
|
||||
|
||||
while (true) {
|
||||
while (true) {
|
||||
delay(20);
|
||||
sonar.update();
|
||||
uint32_t now = millis();
|
||||
|
||||
|
||||
float dist_cm = sonar.distance_cm(0);
|
||||
float voltage = sonar.voltage_mv(0);
|
||||
if (is_zero(sonar_dist_cm_min)) {
|
||||
@ -489,7 +490,7 @@ int8_t Rover::test_sonar(uint8_t argc, const Menu::arg *argv)
|
||||
}
|
||||
if (cliSerial->available() > 0) {
|
||||
break;
|
||||
}
|
||||
}
|
||||
}
|
||||
return (0);
|
||||
}
|
||||
@ -505,4 +506,4 @@ int8_t Rover::test_shell(uint8_t argc, const Menu::arg *argv)
|
||||
}
|
||||
#endif
|
||||
|
||||
#endif // CLI_ENABLED
|
||||
#endif // CLI_ENABLED
|
||||
|
||||
Loading…
Reference in New Issue
Block a user