From 885548e693501fc1b1630f522736284621d2c6ea Mon Sep 17 00:00:00 2001 From: Jason Short Date: Fri, 23 Dec 2011 14:14:19 -0800 Subject: [PATCH] removed some unneeded HIL #defines --- ArduCopter/test.pde | 70 +++++++++++++++++++-------------------------- 1 file changed, 30 insertions(+), 40 deletions(-) diff --git a/ArduCopter/test.pde b/ArduCopter/test.pde index 9c1283ee0e..80a6ea4b8b 100644 --- a/ArduCopter/test.pde +++ b/ArduCopter/test.pde @@ -11,18 +11,13 @@ 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_tri(uint8_t argc, const Menu::arg *argv); //static int8_t test_adc(uint8_t argc, const Menu::arg *argv); - -#if HIL_MODE != HIL_MODE_ATTITUDE 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_dcm_eulers(uint8_t argc, const Menu::arg *argv); -#endif // HIL_MODE - +//static int8_t test_dcm_eulers(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_battery(uint8_t argc, const Menu::arg *argv); //static int8_t test_nav(uint8_t argc, const Menu::arg *argv); - //static int8_t test_wp_nav(uint8_t argc, const Menu::arg *argv); //static int8_t test_reverse(uint8_t argc, const Menu::arg *argv); static int8_t test_tuning(uint8_t argc, const Menu::arg *argv); @@ -31,12 +26,8 @@ static int8_t test_current(uint8_t argc, const Menu::arg *argv); static int8_t test_wp(uint8_t argc, const Menu::arg *argv); static int8_t test_baro(uint8_t argc, const Menu::arg *argv); static int8_t test_mag(uint8_t argc, const Menu::arg *argv); -#if HIL_MODE != HIL_MODE_ATTITUDE && CONFIG_SONAR == ENABLED static int8_t test_sonar(uint8_t argc, const Menu::arg *argv); -#endif -#ifdef OPTFLOW_ENABLED static int8_t test_optflow(uint8_t argc, const Menu::arg *argv); -#endif //static int8_t test_xbee(uint8_t argc, const Menu::arg *argv); static int8_t test_eedump(uint8_t argc, const Menu::arg *argv); static int8_t test_rawgps(uint8_t argc, const Menu::arg *argv); @@ -67,14 +58,10 @@ const struct Menu::command test_menu_commands[] PROGMEM = { // {"failsafe", test_failsafe}, // {"stabilize", test_stabilize}, {"gps", test_gps}, -#if HIL_MODE != HIL_MODE_ATTITUDE && CONFIG_ADC == ENABLED // {"adc", test_adc}, -#endif -#if HIL_MODE != HIL_MODE_ATTITUDE {"ins", test_ins}, {"imu", test_imu}, - {"dcm", test_dcm_eulers}, -#endif +// {"dcm", test_dcm_eulers}, //{"omega", test_omega}, {"battery", test_battery}, {"tune", test_tuning}, @@ -83,16 +70,10 @@ const struct Menu::command test_menu_commands[] PROGMEM = { // {"relay", test_relay}, {"wp", test_wp}, //{"nav", test_nav}, -#if HIL_MODE != HIL_MODE_ATTITUDE {"altitude", test_baro}, -#endif -#if HIL_MODE != HIL_MODE_ATTITUDE && CONFIG_SONAR == ENABLED {"sonar", test_sonar}, -#endif {"compass", test_mag}, -#ifdef OPTFLOW_ENABLED {"optflow", test_optflow}, -#endif //{"xbee", test_xbee}, {"eedump", test_eedump}, // {"rawgps", test_rawgps}, @@ -408,7 +389,8 @@ test_radio(uint8_t argc, const Menu::arg *argv) */ -/*#if HIL_MODE != HIL_MODE_ATTITUDE && CONFIG_ADC == ENABLED +/* +#if HIL_MODE != HIL_MODE_ATTITUDE && CONFIG_ADC == ENABLED //static int8_t //test_adc(uint8_t argc, const Menu::arg *argv) { @@ -434,7 +416,6 @@ test_radio(uint8_t argc, const Menu::arg *argv) #endif */ -#if HIL_MODE != HIL_MODE_ATTITUDE static int8_t test_ins(uint8_t argc, const Menu::arg *argv) { @@ -470,11 +451,10 @@ test_ins(uint8_t argc, const Menu::arg *argv) return (0); } } +return (0); } -#endif // HIL_MODE -#if HIL_MODE != HIL_MODE_ATTITUDE /* test the IMU interface */ @@ -509,16 +489,15 @@ test_imu(uint8_t argc, const Menu::arg *argv) } return 0; } -#endif // HIL_MODE -#if HIL_MODE != HIL_MODE_ATTITUDE /* test the DCM code, printing Euler angles */ -static int8_t -test_dcm_eulers(uint8_t argc, const Menu::arg *argv) +/*static int8_t +//test_dcm_eulers(uint8_t argc, const Menu::arg *argv) { + //Serial.printf_P(PSTR("Calibrating.")); //dcm.kp_yaw(0.02); @@ -570,12 +549,13 @@ test_dcm_eulers(uint8_t argc, const Menu::arg *argv) return (0); } } -} -#endif // HIL_MODE + return (0); +}*/ static int8_t test_gps(uint8_t argc, const Menu::arg *argv) { +/* print_hit_enter(); delay(1000); @@ -602,6 +582,8 @@ test_gps(uint8_t argc, const Menu::arg *argv) return (0); } } + */ + return 0; } /* @@ -757,6 +739,7 @@ test_tuning(uint8_t argc, const Menu::arg *argv) static int8_t test_current(uint8_t argc, const Menu::arg *argv) { + print_hit_enter(); //delta_ms_medium_loop = 100; @@ -778,6 +761,7 @@ test_current(uint8_t argc, const Menu::arg *argv) return (0); } } + return 0; } /* @@ -866,29 +850,33 @@ test_wp(uint8_t argc, const Menu::arg *argv) } */ -#if HIL_MODE != HIL_MODE_ATTITUDE static int8_t test_baro(uint8_t argc, const Menu::arg *argv) { + print_hit_enter(); init_barometer(); while(1){ delay(100); - int32_t alt = read_barometer(); /* calls barometer.read() */ + int32_t alt = read_barometer(); // calls barometer.read() int32_t pres = barometer.get_pressure(); int16_t temp = barometer.get_temperature(); int32_t raw_pres = barometer.get_raw_pressure(); int32_t raw_temp = barometer.get_raw_temp(); + #if defined( __AVR_ATmega1280__ ) + Serial.printf_P(PSTR("alt: %ldcm\n"),alt); + #else Serial.printf_P(PSTR("alt: %ldcm, pres: %ldmbar, temp: %d/100degC," " raw pres: %ld, raw temp: %ld\n"), alt, pres ,temp, raw_pres, raw_temp); + #endif if(Serial.available() > 0){ return (0); } } + return 0; } -#endif static int8_t @@ -919,6 +907,7 @@ test_mag(uint8_t argc, const Menu::arg *argv) print_enabled(false); return (0); } + return (0); } /* @@ -964,7 +953,7 @@ test_mag(uint8_t argc, const Menu::arg *argv) /* test the sonar */ -#if HIL_MODE != HIL_MODE_ATTITUDE && CONFIG_SONAR == ENABLED + static int8_t test_sonar(uint8_t argc, const Menu::arg *argv) { @@ -972,7 +961,7 @@ test_sonar(uint8_t argc, const Menu::arg *argv) Serial.printf_P(PSTR("Sonar disabled\n")); return (0); } - + // make sure sonar is initialised init_sonar(); @@ -990,13 +979,12 @@ test_sonar(uint8_t argc, const Menu::arg *argv) return (0); } -#endif -#ifdef OPTFLOW_ENABLED + static int8_t test_optflow(uint8_t argc, const Menu::arg *argv) { - ///* + #ifdef OPTFLOW_ENABLED if(g.optflow_enabled) { Serial.printf_P(PSTR("man id: %d\t"),optflow.read_register(ADNS3080_PRODUCT_ID)); print_hit_enter(); @@ -1021,8 +1009,10 @@ test_optflow(uint8_t argc, const Menu::arg *argv) print_enabled(false); return (0); } + #endif + return (0); } -#endif + /* static int8_t