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AP_AHRS: removed DCM_test example sketch

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No longer required because it doesn't compile and is redundant anyway because the AP_AHRS_DCM class is tested in the AHRS_Test example sketch.
This commit is contained in:
rmackay9 2012-07-04 18:22:51 +09:00
parent 03516b7dfa
commit cac0757c2e
2 changed files with 0 additions and 140 deletions
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136
libraries/AP_AHRS/examples/DCM_Test/DCM_Test.pde
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// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: t -*-
//
// Simple test for the AP_DCM library
//
#include <FastSerial.h>
#include <SPI.h>
#include <I2C.h>
#include <Arduino_Mega_ISR_Registry.h>
#include <AP_PeriodicProcess.h>
#include <AP_InertialSensor.h>
#include <AP_ADC.h>
#include <AP_IMU.h>
#include <AP_DCM.h>
#include <AP_Math.h>
#include <AP_Common.h>
#include <AP_Compass.h>
#include <DataFlash.h>
#include <APM_RC.h>
#include <GCS_MAVLink.h>
#include <AP_GPS.h>
#include <AP_Baro.h>
// uncomment this for a APM2 board
// #define APM2_HARDWARE
FastSerialPort(Serial, 0);
Arduino_Mega_ISR_Registry isr_registry;
AP_TimerProcess scheduler;
#ifdef DESKTOP_BUILD
AP_Compass_HIL compass;
#else
AP_Compass_HMC5843 compass;
#endif
#ifdef APM2_HARDWARE
AP_InertialSensor_MPU6000 ins( 53 );
# else
AP_ADC_ADS7844 adc;
AP_InertialSensor_Oilpan ins( &adc );
#endif // CONFIG_IMU_TYPE
static GPS *g_gps;
AP_Baro_BMP085_HIL barometer;
AP_IMU_INS imu( &ins);
AP_DCM dcm(&imu, g_gps);
#ifdef APM2_HARDWARE
# define A_LED_PIN 27
# define C_LED_PIN 25
# define LED_ON LOW
# define LED_OFF HIGH
# define MAG_ORIENTATION AP_COMPASS_APM2_SHIELD
#else
# define A_LED_PIN 37
# define C_LED_PIN 35
# define LED_ON HIGH
# define LED_OFF LOW
# define MAG_ORIENTATION AP_COMPASS_COMPONENTS_DOWN_PINS_FORWARD
#endif
static void flash_leds(bool on)
{
digitalWrite(A_LED_PIN, on?LED_OFF:LED_ON);
digitalWrite(C_LED_PIN, on?LED_ON:LED_OFF);
}
void setup(void)
{
Serial.begin(115200);
Serial.println("Starting up...");
isr_registry.init();
scheduler.init(&isr_registry);
#ifndef DESKTOP_BUILD
I2c.begin();
I2c.timeOut(5);
I2c.setSpeed(true);
#endif
SPI.begin();
SPI.setClockDivider(SPI_CLOCK_DIV16);
imu.init(IMU::COLD_START, delay, flash_leds, &scheduler);
imu.init_accel(delay, flash_leds);
compass.set_orientation(MAG_ORIENTATION);
if (compass.init()) {
Serial.printf("Enabling compass\n");
dcm.set_compass(&compass);
}
}
void loop(void)
{
static uint16_t counter;
static uint32_t last_t, last_print;
uint32_t now = micros();
float deltat;
if (last_t == 0) {
last_t = now;
return;
}
deltat = (now - last_t) * 1.0e-6;
last_t = now;
compass.read();
dcm.update_DCM();
delay(20);
counter++;
if (now - last_print >= 0.5e6) {
Vector3f accel = imu.get_accel();
Vector3f gyro = imu.get_gyro();
gyro = imu.get_gyro();
accel = imu.get_accel();
Serial.printf_P(PSTR("r:%4d p:%4d y:%3d g=(%5.1f %5.1f %5.1f) a=(%5.1f %5.1f %5.1f) rate=%.1f\n"),
(int)dcm.roll_sensor / 100,
(int)dcm.pitch_sensor / 100,
(uint16_t)dcm.yaw_sensor / 100,
gyro.x, gyro.y, gyro.z,
accel.x, accel.y, accel.z,
(1.0e6*counter)/(now-last_print));
last_print = now;
counter = 0;
}
}

4
libraries/AP_AHRS/examples/DCM_Test/Makefile
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include ../../../AP_Common/Arduino.mk
sitl:
make -f ../../../../libraries/Desktop/Desktop.mk