mirror of https://github.com/ArduPilot/ardupilot
2.0.39
Cleanup and removed some old tests to save data flash. git-svn-id: https://arducopter.googlecode.com/svn/trunk@3030 f9c3cf11-9bcb-44bc-f272-b75c42450872
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jasonshort
parent
99a327ccbf
commit
de191b7bee
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@ -30,7 +30,7 @@ static int8_t test_optflow(uint8_t argc, const Menu::arg *argv);
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static int8_t test_xbee(uint8_t argc, const Menu::arg *argv);
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static int8_t test_eedump(uint8_t argc, const Menu::arg *argv);
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static int8_t test_rawgps(uint8_t argc, const Menu::arg *argv);
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static int8_t test_mission(uint8_t argc, const Menu::arg *argv);
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//static int8_t test_mission(uint8_t argc, const Menu::arg *argv);
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// This is the help function
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// PSTR is an AVR macro to read strings from flash memory
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@ -80,7 +80,7 @@ const struct Menu::command test_menu_commands[] PROGMEM = {
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{"xbee", test_xbee},
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{"eedump", test_eedump},
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{"rawgps", test_rawgps},
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{"mission", test_mission},
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// {"mission", test_mission},
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//{"reverse", test_reverse},
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//{"wp", test_wp_nav},
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};
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@ -271,9 +271,12 @@ test_wp_nav(uint8_t argc, const Menu::arg *argv)
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}
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}
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*/
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static int8_t
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test_failsafe(uint8_t argc, const Menu::arg *argv)
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{
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#if THROTTLE_FAILSAFE
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byte fail_test;
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print_hit_enter();
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for(int i = 0; i < 50; i++){
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@ -318,6 +321,9 @@ test_failsafe(uint8_t argc, const Menu::arg *argv)
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return (0);
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}
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}
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#else
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return (0);
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#endif
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}
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/*static int8_t
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@ -458,8 +464,8 @@ test_imu(uint8_t argc, const Menu::arg *argv)
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// ---
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read_AHRS();
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Vector3f accels = imu.get_accel();
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Vector3f gyros = imu.get_gyro();
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//Vector3f accels = imu.get_accel();
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//Vector3f gyros = imu.get_gyro();
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//Vector3f accel_filt = imu.get_accel_filtered();
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//accels_rot = dcm.get_dcm_matrix() * accel_filt;
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@ -512,13 +518,8 @@ test_imu(uint8_t argc, const Menu::arg *argv)
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cos_yaw_x, // x
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sin_yaw_y); // y
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//*/
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//
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#if HIL_MODE != HIL_MODE_ATTITUDE
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Log_Write_Raw();
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#endif
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//Log_Write_Raw();
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}
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if(Serial.available() > 0){
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return (0);
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}
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@ -809,15 +810,15 @@ test_wp(uint8_t argc, const Menu::arg *argv)
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delay(1000);
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// save the alitude above home option
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Serial.printf_P(PSTR("Hold altitude "));
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Serial.printf_P(PSTR("Hold alt "));
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if(g.RTL_altitude < 0){
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Serial.printf_P(PSTR("\n"));
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}else{
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Serial.printf_P(PSTR("of %dm\n"), (int)g.RTL_altitude / 100);
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}
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Serial.printf_P(PSTR("%d waypoints\n"), (int)g.waypoint_total);
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Serial.printf_P(PSTR("Hit radius: %d\n"), (int)g.waypoint_radius);
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Serial.printf_P(PSTR("%d wp\n"), (int)g.waypoint_total);
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Serial.printf_P(PSTR("Hit rad: %d\n"), (int)g.waypoint_radius);
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//Serial.printf_P(PSTR("Loiter radius: %d\n\n"), (int)g.loiter_radius);
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report_wp();
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@ -871,11 +872,8 @@ test_baro(uint8_t argc, const Menu::arg *argv)
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while(1){
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delay(100);
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baro_alt = read_barometer();
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Serial.printf_P(PSTR("Baro: %dcm\n"), baro_alt);
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if(Serial.available() > 0){
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return (0);
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}
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@ -896,14 +894,11 @@ test_mag(uint8_t argc, const Menu::arg *argv)
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compass.read();
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compass.calculate(dcm.get_dcm_matrix());
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Vector3f maggy = compass.get_offsets();
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Serial.printf_P(PSTR("Heading: %ld, XYZ: %d, %d, %d,\tXYZoff: %6.2f, %6.2f, %6.2f\n"),
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Serial.printf_P(PSTR("Heading: %ld, XYZ: %d, %d, %d\n"),
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(wrap_360(ToDeg(compass.heading) * 100)) /100,
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compass.mag_x,
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compass.mag_y,
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compass.mag_z,
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maggy.x,
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maggy.y,
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maggy.z);
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compass.mag_z);
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if(Serial.available() > 0){
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return (0);
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@ -1012,19 +1007,20 @@ test_optflow(uint8_t argc, const Menu::arg *argv)
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}
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#endif
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/*
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static int8_t
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test_mission(uint8_t argc, const Menu::arg *argv)
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{
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//write out a basic mission to the EEPROM
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/*{
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uint8_t id; ///< command id
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uint8_t options; ///< options bitmask (1<<0 = relative altitude)
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uint8_t p1; ///< param 1
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int32_t alt; ///< param 2 - Altitude in centimeters (meters * 100)
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int32_t lat; ///< param 3 - Lattitude * 10**7
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int32_t lng; ///< param 4 - Longitude * 10**7
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}*/
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//{
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// uint8_t id; ///< command id
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// uint8_t options; ///< options bitmask (1<<0 = relative altitude)
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// uint8_t p1; ///< param 1
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// int32_t alt; ///< param 2 - Altitude in centimeters (meters * 100)
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// int32_t lat; ///< param 3 - Lattitude * 10**7
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// int32_t lng; ///< param 4 - Longitude * 10**7
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//}
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// clear home
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{Location t = {0, 0, 0, 0, 0, 0};
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@ -1070,12 +1066,12 @@ test_mission(uint8_t argc, const Menu::arg *argv)
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test_wp(NULL, NULL);
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return (0);
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}
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*/
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static void print_hit_enter()
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{
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Serial.printf_P(PSTR("Hit Enter to exit.\n\n"));
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}
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/*
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static void fake_out_gps()
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{
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static float rads;
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@ -1097,7 +1093,7 @@ static void fake_out_gps()
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//next_WP.lat = home.lat + length * cos(rads); // Y
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}
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*/
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static void print_motor_out(){
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Serial.printf("out: R: %d, L: %d F: %d B: %d\n",
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