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Copter: fix barometer cli test

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This commit is contained in:
Randy Mackay 2013-05-25 12:21:29 +09:00
parent 916f241fff
commit d1791bab76
3 changed files with 18 additions and 15 deletions
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1
ArduCopter/sensors.pde
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@ -16,6 +16,7 @@ static void init_sonar(void)
static void init_barometer(void) static void init_barometer(void)
{ {
gcs_send_text_P(SEVERITY_LOW, PSTR("Calibrating barometer"));
barometer.calibrate(); barometer.calibrate();
gcs_send_text_P(SEVERITY_LOW, PSTR("barometer calibration complete")); gcs_send_text_P(SEVERITY_LOW, PSTR("barometer calibration complete"));
} }

11
ArduCopter/system.pde
View File

@ -142,6 +142,10 @@ static void init_ardupilot()
// load parameters from EEPROM // load parameters from EEPROM
load_parameters(); load_parameters();
#if HIL_MODE != HIL_MODE_ATTITUDE
barometer.init();
#endif
// init the GCS // init the GCS
gcs0.init(hal.uartA); gcs0.init(hal.uartA);
@ -197,9 +201,6 @@ static void init_ardupilot()
// begin filtering the ADC Gyros // begin filtering the ADC Gyros
adc.Init(); // APM ADC library initialization adc.Init(); // APM ADC library initialization
#endif // CONFIG_ADC #endif // CONFIG_ADC
barometer.init();
#endif // HIL_MODE #endif // HIL_MODE
// Do GPS init // Do GPS init
@ -251,8 +252,8 @@ static void init_ardupilot()
#endif #endif
#if FRAME_CONFIG == HELI_FRAME #if FRAME_CONFIG == HELI_FRAME
// initialise controller filters // initialise controller filters
init_rate_controllers(); init_rate_controllers();
#endif // HELI_FRAME #endif // HELI_FRAME
// initialize commands // initialize commands

21
ArduCopter/test.pde
View File

@ -67,9 +67,9 @@ const struct Menu::command test_menu_commands[] PROGMEM = {
{"tune", test_tuning}, {"tune", test_tuning},
{"relay", test_relay}, {"relay", test_relay},
{"wp", test_wp}, {"wp", test_wp},
// {"toy", test_toy}, // {"toy", test_toy},
#if HIL_MODE != HIL_MODE_ATTITUDE && HIL_MODE != HIL_MODE_SENSORS #if HIL_MODE != HIL_MODE_ATTITUDE && HIL_MODE != HIL_MODE_SENSORS
{"altitude", test_baro}, {"baro", test_baro},
{"sonar", test_sonar}, {"sonar", test_sonar},
#endif #endif
{"compass", test_mag}, {"compass", test_mag},
@ -413,20 +413,21 @@ test_wp(uint8_t argc, const Menu::arg *argv)
static int8_t static int8_t
test_baro(uint8_t argc, const Menu::arg *argv) test_baro(uint8_t argc, const Menu::arg *argv)
{ {
int32_t alt;
print_hit_enter(); print_hit_enter();
init_barometer(); init_barometer();
while(1) { while(1) {
delay(100); delay(100);
int32_t alt = read_barometer(); // calls barometer.read() alt = read_barometer();
float pres = barometer.get_pressure(); if (!barometer.healthy) {
int16_t temp = barometer.get_temperature(); cliSerial->println_P(PSTR("not healthy"));
int32_t raw_pres = barometer.get_raw_pressure(); } else {
int32_t raw_temp = barometer.get_raw_temp(); cliSerial->printf_P(PSTR("Alt: %0.2fm, Raw: %f Temperature: %.1f\n"),
cliSerial->printf_P(PSTR("alt: %ldcm, pres: %fmbar, temp: %d/100degC," alt / 100.0,
" raw pres: %ld, raw temp: %ld\n"), barometer.get_pressure(), 0.1*barometer.get_temperature());
(long)alt, pres, (int)temp, (long)raw_pres, (long)raw_temp); }
if(cliSerial->available() > 0) { if(cliSerial->available() > 0) {
return (0); return (0);
} }