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AP_InertialSensor: some more debug info for VibTest

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This commit is contained in:
Andrew Tridgell 2014-07-31 12:48:19 +10:00
parent b09568ffb5
commit cc735a4200
1 changed files with 14 additions and 0 deletions
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14
libraries/AP_InertialSensor/examples/VibTest/VibTest.pde
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@ -42,6 +42,7 @@
#include <sys/stat.h>
#include <fcntl.h>
#include <unistd.h>
#include <stdio.h>
const AP_HAL::HAL& hal = AP_HAL_BOARD_DRIVER;
@ -108,10 +109,12 @@ void setup(void)
if (accel_fd[i] != -1) {
ioctl(accel_fd[i], ACCELIOCSLOWPASS, 0);
ioctl(accel_fd[i], SENSORIOCSQUEUEDEPTH, 100);
::printf("Setup accel[%u] OK\n", i);
}
if (gyro_fd[i] != -1) {
ioctl(gyro_fd[i], GYROIOCSLOWPASS, 0);
ioctl(gyro_fd[i], SENSORIOCSQUEUEDEPTH, 100);
::printf("Setup gyro[%u] OK\n", i);
}
}
@ -190,6 +193,17 @@ void loop(void)
gyro_deltat_min[0], gyro_deltat_max[0],
gyro_deltat_min[1], gyro_deltat_max[1],
gyro_deltat_min[2], gyro_deltat_max[2]);
#if 0
::printf("t=%lu total_samples=%lu/%lu/%lu adt=%u:%u/%u:%u/%u:%u gdt=%u:%u/%u:%u/%u:%u\n",
hal.scheduler->millis(),
total_samples[0], total_samples[1],total_samples[2],
accel_deltat_min[0], accel_deltat_max[0],
accel_deltat_min[1], accel_deltat_max[1],
accel_deltat_min[2], accel_deltat_max[2],
gyro_deltat_min[0], gyro_deltat_max[0],
gyro_deltat_min[1], gyro_deltat_max[1],
gyro_deltat_min[2], gyro_deltat_max[2]);
#endif
memset(accel_deltat_min, 0, sizeof(accel_deltat_min));
memset(accel_deltat_max, 0, sizeof(accel_deltat_max));