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uncrustify ArduPlane/test.pde

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uncrustify 2012-08-21 19:19:51 -07:00 committed by Pat Hickey
parent fb727f65ac
commit e73834d6eb
1 changed files with 378 additions and 378 deletions
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ArduPlane/test.pde
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@ -4,63 +4,63 @@
// These are function definitions so the Menu can be constructed before the functions // These are function definitions so the Menu can be constructed before the functions
// are defined below. Order matters to the compiler. // are defined below. Order matters to the compiler.
static int8_t test_radio_pwm(uint8_t argc, const Menu::arg *argv); static int8_t test_radio_pwm(uint8_t argc, const Menu::arg *argv);
static int8_t test_radio(uint8_t argc, const Menu::arg *argv); static int8_t test_radio(uint8_t argc, const Menu::arg *argv);
static int8_t test_passthru(uint8_t argc, const Menu::arg *argv); static int8_t test_passthru(uint8_t argc, const Menu::arg *argv);
static int8_t test_failsafe(uint8_t argc, const Menu::arg *argv); static int8_t test_failsafe(uint8_t argc, const Menu::arg *argv);
static int8_t test_gps(uint8_t argc, const Menu::arg *argv); static int8_t test_gps(uint8_t argc, const Menu::arg *argv);
#if CONFIG_ADC == ENABLED #if CONFIG_ADC == ENABLED
static int8_t test_adc(uint8_t argc, const Menu::arg *argv); static int8_t test_adc(uint8_t argc, const Menu::arg *argv);
#endif #endif
static int8_t test_imu(uint8_t argc, const Menu::arg *argv); static int8_t test_imu(uint8_t argc, const Menu::arg *argv);
static int8_t test_battery(uint8_t argc, const Menu::arg *argv); static int8_t test_battery(uint8_t argc, const Menu::arg *argv);
static int8_t test_relay(uint8_t argc, const Menu::arg *argv); static int8_t test_relay(uint8_t argc, const Menu::arg *argv);
static int8_t test_wp(uint8_t argc, const Menu::arg *argv); static int8_t test_wp(uint8_t argc, const Menu::arg *argv);
static int8_t test_airspeed(uint8_t argc, const Menu::arg *argv); static int8_t test_airspeed(uint8_t argc, const Menu::arg *argv);
static int8_t test_pressure(uint8_t argc, const Menu::arg *argv); static int8_t test_pressure(uint8_t argc, const Menu::arg *argv);
static int8_t test_mag(uint8_t argc, const Menu::arg *argv); static int8_t test_mag(uint8_t argc, const Menu::arg *argv);
static int8_t test_xbee(uint8_t argc, const Menu::arg *argv); 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_eedump(uint8_t argc, const Menu::arg *argv);
static int8_t test_rawgps(uint8_t argc, const Menu::arg *argv); static int8_t test_rawgps(uint8_t argc, const Menu::arg *argv);
static int8_t test_modeswitch(uint8_t argc, const Menu::arg *argv); static int8_t test_modeswitch(uint8_t argc, const Menu::arg *argv);
static int8_t test_logging(uint8_t argc, const Menu::arg *argv); static int8_t test_logging(uint8_t argc, const Menu::arg *argv);
// Creates a constant array of structs representing menu options // Creates a constant array of structs representing menu options
// and stores them in Flash memory, not RAM. // and stores them in Flash memory, not RAM.
// User enters the string in the console to call the functions on the right. // User enters the string in the console to call the functions on the right.
// See class Menu in AP_Common for implementation details // See class Menu in AP_Common for implementation details
static const struct Menu::command test_menu_commands[] PROGMEM = { static const struct Menu::command test_menu_commands[] PROGMEM = {
{"pwm", test_radio_pwm}, {"pwm", test_radio_pwm},
{"radio", test_radio}, {"radio", test_radio},
{"passthru", test_passthru}, {"passthru", test_passthru},
{"failsafe", test_failsafe}, {"failsafe", test_failsafe},
{"battery", test_battery}, {"battery", test_battery},
{"relay", test_relay}, {"relay", test_relay},
{"waypoints", test_wp}, {"waypoints", test_wp},
{"xbee", test_xbee}, {"xbee", test_xbee},
{"eedump", test_eedump}, {"eedump", test_eedump},
{"modeswitch", test_modeswitch}, {"modeswitch", test_modeswitch},
// Tests below here are for hardware sensors only present // Tests below here are for hardware sensors only present
// when real sensors are attached or they are emulated // when real sensors are attached or they are emulated
#if HIL_MODE == HIL_MODE_DISABLED #if HIL_MODE == HIL_MODE_DISABLED
#if CONFIG_ADC == ENABLED #if CONFIG_ADC == ENABLED
{"adc", test_adc}, {"adc", test_adc},
#endif #endif
{"gps", test_gps}, {"gps", test_gps},
{"rawgps", test_rawgps}, {"rawgps", test_rawgps},
{"imu", test_imu}, {"imu", test_imu},
{"airspeed", test_airspeed}, {"airspeed", test_airspeed},
{"airpressure", test_pressure}, {"airpressure", test_pressure},
{"compass", test_mag}, {"compass", test_mag},
#elif HIL_MODE == HIL_MODE_SENSORS #elif HIL_MODE == HIL_MODE_SENSORS
{"adc", test_adc}, {"adc", test_adc},
{"gps", test_gps}, {"gps", test_gps},
{"imu", test_imu}, {"imu", test_imu},
{"compass", test_mag}, {"compass", test_mag},
#elif HIL_MODE == HIL_MODE_ATTITUDE #elif HIL_MODE == HIL_MODE_ATTITUDE
#endif #endif
{"logging", test_logging}, {"logging", test_logging},
}; };
@ -70,81 +70,81 @@ MENU(test_menu, "test", test_menu_commands);
static int8_t static int8_t
test_mode(uint8_t argc, const Menu::arg *argv) test_mode(uint8_t argc, const Menu::arg *argv)
{ {
Serial.printf_P(PSTR("Test Mode\n\n")); Serial.printf_P(PSTR("Test Mode\n\n"));
test_menu.run(); test_menu.run();
return 0; return 0;
} }
static void print_hit_enter() static void print_hit_enter()
{ {
Serial.printf_P(PSTR("Hit Enter to exit.\n\n")); Serial.printf_P(PSTR("Hit Enter to exit.\n\n"));
} }
static int8_t static int8_t
test_eedump(uint8_t argc, const Menu::arg *argv) test_eedump(uint8_t argc, const Menu::arg *argv)
{ {
intptr_t i, j; intptr_t i, j;
// hexdump the EEPROM // hexdump the EEPROM
for (i = 0; i < EEPROM_MAX_ADDR; i += 16) { for (i = 0; i < EEPROM_MAX_ADDR; i += 16) {
Serial.printf_P(PSTR("%04x:"), i); Serial.printf_P(PSTR("%04x:"), i);
for (j = 0; j < 16; j++) for (j = 0; j < 16; j++)
Serial.printf_P(PSTR(" %02x"), eeprom_read_byte((const uint8_t *)(i + j))); Serial.printf_P(PSTR(" %02x"), eeprom_read_byte((const uint8_t *)(i + j)));
Serial.println(); Serial.println();
} }
return(0); return(0);
} }
static int8_t static int8_t
test_radio_pwm(uint8_t argc, const Menu::arg *argv) test_radio_pwm(uint8_t argc, const Menu::arg *argv)
{ {
print_hit_enter(); print_hit_enter();
delay(1000); delay(1000);
while(1){ while(1) {
delay(20); delay(20);
// Filters radio input - adjust filters in the radio.pde file // Filters radio input - adjust filters in the radio.pde file
// ---------------------------------------------------------- // ----------------------------------------------------------
read_radio(); read_radio();
Serial.printf_P(PSTR("IN:\t1: %d\t2: %d\t3: %d\t4: %d\t5: %d\t6: %d\t7: %d\t8: %d\n"), Serial.printf_P(PSTR("IN:\t1: %d\t2: %d\t3: %d\t4: %d\t5: %d\t6: %d\t7: %d\t8: %d\n"),
(int)g.channel_roll.radio_in, (int)g.channel_roll.radio_in,
(int)g.channel_pitch.radio_in, (int)g.channel_pitch.radio_in,
(int)g.channel_throttle.radio_in, (int)g.channel_throttle.radio_in,
(int)g.channel_rudder.radio_in, (int)g.channel_rudder.radio_in,
(int)g.rc_5.radio_in, (int)g.rc_5.radio_in,
(int)g.rc_6.radio_in, (int)g.rc_6.radio_in,
(int)g.rc_7.radio_in, (int)g.rc_7.radio_in,
(int)g.rc_8.radio_in); (int)g.rc_8.radio_in);
if(Serial.available() > 0){ if(Serial.available() > 0) {
return (0); return (0);
} }
} }
} }
static int8_t static int8_t
test_passthru(uint8_t argc, const Menu::arg *argv) test_passthru(uint8_t argc, const Menu::arg *argv)
{ {
print_hit_enter(); print_hit_enter();
delay(1000); delay(1000);
while(1){ while(1) {
delay(20); delay(20);
// New radio frame? (we could use also if((millis()- timer) > 20) // New radio frame? (we could use also if((millis()- timer) > 20)
if (APM_RC.GetState() == 1){ if (APM_RC.GetState() == 1) {
Serial.print("CH:"); Serial.print("CH:");
for(int16_t i = 0; i < 8; i++){ for(int16_t i = 0; i < 8; i++) {
Serial.print(APM_RC.InputCh(i)); // Print channel values Serial.print(APM_RC.InputCh(i)); // Print channel values
Serial.print(","); Serial.print(",");
APM_RC.OutputCh(i, APM_RC.InputCh(i)); // Copy input to Servos APM_RC.OutputCh(i, APM_RC.InputCh(i)); // Copy input to Servos
} }
Serial.println(); Serial.println();
} }
if (Serial.available() > 0){ if (Serial.available() > 0) {
return (0); return (0);
} }
} }
@ -154,242 +154,242 @@ test_passthru(uint8_t argc, const Menu::arg *argv)
static int8_t static int8_t
test_radio(uint8_t argc, const Menu::arg *argv) test_radio(uint8_t argc, const Menu::arg *argv)
{ {
print_hit_enter(); print_hit_enter();
delay(1000); delay(1000);
// read the radio to set trims // read the radio to set trims
// --------------------------- // ---------------------------
trim_radio(); trim_radio();
while(1){ while(1) {
delay(20); delay(20);
read_radio(); read_radio();
g.channel_roll.calc_pwm(); g.channel_roll.calc_pwm();
g.channel_pitch.calc_pwm(); g.channel_pitch.calc_pwm();
g.channel_throttle.calc_pwm(); g.channel_throttle.calc_pwm();
g.channel_rudder.calc_pwm(); g.channel_rudder.calc_pwm();
// write out the servo PWM values // write out the servo PWM values
// ------------------------------ // ------------------------------
set_servos(); set_servos();
Serial.printf_P(PSTR("IN 1: %d\t2: %d\t3: %d\t4: %d\t5: %d\t6: %d\t7: %d\t8: %d\n"), Serial.printf_P(PSTR("IN 1: %d\t2: %d\t3: %d\t4: %d\t5: %d\t6: %d\t7: %d\t8: %d\n"),
(int)g.channel_roll.control_in, (int)g.channel_roll.control_in,
(int)g.channel_pitch.control_in, (int)g.channel_pitch.control_in,
(int)g.channel_throttle.control_in, (int)g.channel_throttle.control_in,
(int)g.channel_rudder.control_in, (int)g.channel_rudder.control_in,
(int)g.rc_5.control_in, (int)g.rc_5.control_in,
(int)g.rc_6.control_in, (int)g.rc_6.control_in,
(int)g.rc_7.control_in, (int)g.rc_7.control_in,
(int)g.rc_8.control_in); (int)g.rc_8.control_in);
if(Serial.available() > 0){ if(Serial.available() > 0) {
return (0); return (0);
} }
} }
} }
static int8_t static int8_t
test_failsafe(uint8_t argc, const Menu::arg *argv) test_failsafe(uint8_t argc, const Menu::arg *argv)
{ {
byte fail_test; byte fail_test;
print_hit_enter(); print_hit_enter();
for(int16_t i = 0; i < 50; i++){ for(int16_t i = 0; i < 50; i++) {
delay(20); delay(20);
read_radio(); read_radio();
} }
// read the radio to set trims // read the radio to set trims
// --------------------------- // ---------------------------
trim_radio(); trim_radio();
oldSwitchPosition = readSwitch(); oldSwitchPosition = readSwitch();
Serial.printf_P(PSTR("Unplug battery, throttle in neutral, turn off radio.\n")); Serial.printf_P(PSTR("Unplug battery, throttle in neutral, turn off radio.\n"));
while(g.channel_throttle.control_in > 0){ while(g.channel_throttle.control_in > 0) {
delay(20); delay(20);
read_radio(); read_radio();
} }
while(1){ while(1) {
delay(20); delay(20);
read_radio(); read_radio();
if(g.channel_throttle.control_in > 0){ if(g.channel_throttle.control_in > 0) {
Serial.printf_P(PSTR("THROTTLE CHANGED %d \n"), (int)g.channel_throttle.control_in); Serial.printf_P(PSTR("THROTTLE CHANGED %d \n"), (int)g.channel_throttle.control_in);
fail_test++; fail_test++;
} }
if(oldSwitchPosition != readSwitch()){ if(oldSwitchPosition != readSwitch()) {
Serial.printf_P(PSTR("CONTROL MODE CHANGED: ")); Serial.printf_P(PSTR("CONTROL MODE CHANGED: "));
Serial.println(flight_mode_strings[readSwitch()]); Serial.println(flight_mode_strings[readSwitch()]);
fail_test++; fail_test++;
} }
if(g.throttle_fs_enabled && g.channel_throttle.get_failsafe()){ if(g.throttle_fs_enabled && g.channel_throttle.get_failsafe()) {
Serial.printf_P(PSTR("THROTTLE FAILSAFE ACTIVATED: %d, "), (int)g.channel_throttle.radio_in); Serial.printf_P(PSTR("THROTTLE FAILSAFE ACTIVATED: %d, "), (int)g.channel_throttle.radio_in);
Serial.println(flight_mode_strings[readSwitch()]); Serial.println(flight_mode_strings[readSwitch()]);
fail_test++; fail_test++;
} }
if(fail_test > 0){ if(fail_test > 0) {
return (0); return (0);
} }
if(Serial.available() > 0){ if(Serial.available() > 0) {
Serial.printf_P(PSTR("LOS caused no change in APM.\n")); Serial.printf_P(PSTR("LOS caused no change in APM.\n"));
return (0); return (0);
} }
} }
} }
static int8_t static int8_t
test_battery(uint8_t argc, const Menu::arg *argv) test_battery(uint8_t argc, const Menu::arg *argv)
{ {
if (g.battery_monitoring == 3 || g.battery_monitoring == 4) { if (g.battery_monitoring == 3 || g.battery_monitoring == 4) {
print_hit_enter(); print_hit_enter();
delta_ms_medium_loop = 100; delta_ms_medium_loop = 100;
while(1){ while(1) {
delay(100); delay(100);
read_radio(); read_radio();
read_battery(); read_battery();
if (g.battery_monitoring == 3){ if (g.battery_monitoring == 3) {
Serial.printf_P(PSTR("V: %4.4f\n"), Serial.printf_P(PSTR("V: %4.4f\n"),
battery_voltage1, battery_voltage1,
current_amps1, current_amps1,
current_total1); current_total1);
} else { } else {
Serial.printf_P(PSTR("V: %4.4f, A: %4.4f, mAh: %4.4f\n"), Serial.printf_P(PSTR("V: %4.4f, A: %4.4f, mAh: %4.4f\n"),
battery_voltage1, battery_voltage1,
current_amps1, current_amps1,
current_total1); current_total1);
} }
// write out the servo PWM values // write out the servo PWM values
// ------------------------------ // ------------------------------
set_servos(); set_servos();
if(Serial.available() > 0){ if(Serial.available() > 0) {
return (0); return (0);
} }
} }
} else { } else {
Serial.printf_P(PSTR("Not enabled\n")); Serial.printf_P(PSTR("Not enabled\n"));
return (0); return (0);
} }
} }
static int8_t static int8_t
test_relay(uint8_t argc, const Menu::arg *argv) test_relay(uint8_t argc, const Menu::arg *argv)
{ {
print_hit_enter(); print_hit_enter();
delay(1000); delay(1000);
while(1){ while(1) {
Serial.printf_P(PSTR("Relay on\n")); Serial.printf_P(PSTR("Relay on\n"));
relay.on(); relay.on();
delay(3000); delay(3000);
if(Serial.available() > 0){ if(Serial.available() > 0) {
return (0); return (0);
} }
Serial.printf_P(PSTR("Relay off\n")); Serial.printf_P(PSTR("Relay off\n"));
relay.off(); relay.off();
delay(3000); delay(3000);
if(Serial.available() > 0){ if(Serial.available() > 0) {
return (0); return (0);
} }
} }
} }
static int8_t static int8_t
test_wp(uint8_t argc, const Menu::arg *argv) test_wp(uint8_t argc, const Menu::arg *argv)
{ {
delay(1000); delay(1000);
// save the alitude above home option // save the alitude above home option
if (g.RTL_altitude_cm < 0){ if (g.RTL_altitude_cm < 0) {
Serial.printf_P(PSTR("Hold current altitude\n")); Serial.printf_P(PSTR("Hold current altitude\n"));
}else{ }else{
Serial.printf_P(PSTR("Hold altitude of %dm\n"), (int)g.RTL_altitude_cm/100); Serial.printf_P(PSTR("Hold altitude of %dm\n"), (int)g.RTL_altitude_cm/100);
} }
Serial.printf_P(PSTR("%d waypoints\n"), (int)g.command_total); Serial.printf_P(PSTR("%d waypoints\n"), (int)g.command_total);
Serial.printf_P(PSTR("Hit radius: %d\n"), (int)g.waypoint_radius); Serial.printf_P(PSTR("Hit radius: %d\n"), (int)g.waypoint_radius);
Serial.printf_P(PSTR("Loiter radius: %d\n\n"), (int)g.loiter_radius); Serial.printf_P(PSTR("Loiter radius: %d\n\n"), (int)g.loiter_radius);
for(byte i = 0; i <= g.command_total; i++){ for(byte i = 0; i <= g.command_total; i++) {
struct Location temp = get_cmd_with_index(i); struct Location temp = get_cmd_with_index(i);
test_wp_print(&temp, i); test_wp_print(&temp, i);
} }
return (0); return (0);
} }
static void static void
test_wp_print(struct Location *cmd, byte wp_index) test_wp_print(struct Location *cmd, byte wp_index)
{ {
Serial.printf_P(PSTR("command #: %d id:%d options:%d p1:%d p2:%ld p3:%ld p4:%ld \n"), Serial.printf_P(PSTR("command #: %d id:%d options:%d p1:%d p2:%ld p3:%ld p4:%ld \n"),
(int)wp_index, (int)wp_index,
(int)cmd->id, (int)cmd->id,
(int)cmd->options, (int)cmd->options,
(int)cmd->p1, (int)cmd->p1,
(long)cmd->alt, (long)cmd->alt,
(long)cmd->lat, (long)cmd->lat,
(long)cmd->lng); (long)cmd->lng);
} }
static int8_t static int8_t
test_xbee(uint8_t argc, const Menu::arg *argv) test_xbee(uint8_t argc, const Menu::arg *argv)
{ {
print_hit_enter(); print_hit_enter();
delay(1000); delay(1000);
Serial.printf_P(PSTR("Begin XBee X-CTU Range and RSSI Test:\n")); Serial.printf_P(PSTR("Begin XBee X-CTU Range and RSSI Test:\n"));
while(1){ while(1) {
if (Serial3.available()) if (Serial3.available())
Serial3.write(Serial3.read()); Serial3.write(Serial3.read());
if(Serial.available() > 0){ if(Serial.available() > 0) {
return (0); return (0);
} }
} }
} }
static int8_t static int8_t
test_modeswitch(uint8_t argc, const Menu::arg *argv) test_modeswitch(uint8_t argc, const Menu::arg *argv)
{ {
print_hit_enter(); print_hit_enter();
delay(1000); delay(1000);
Serial.printf_P(PSTR("Control CH ")); Serial.printf_P(PSTR("Control CH "));
Serial.println(FLIGHT_MODE_CHANNEL, DEC); Serial.println(FLIGHT_MODE_CHANNEL, DEC);
while(1){ while(1) {
delay(20); delay(20);
byte switchPosition = readSwitch(); byte switchPosition = readSwitch();
if (oldSwitchPosition != switchPosition){ if (oldSwitchPosition != switchPosition) {
Serial.printf_P(PSTR("Position %d\n"), (int)switchPosition); Serial.printf_P(PSTR("Position %d\n"), (int)switchPosition);
oldSwitchPosition = switchPosition; oldSwitchPosition = switchPosition;
} }
if(Serial.available() > 0){ if(Serial.available() > 0) {
return (0); return (0);
} }
} }
} }
/* /*
test the dataflash is working * test the dataflash is working
*/ */
static int8_t static int8_t
test_logging(uint8_t argc, const Menu::arg *argv) test_logging(uint8_t argc, const Menu::arg *argv)
{ {
Serial.println_P(PSTR("Testing dataflash logging")); Serial.println_P(PSTR("Testing dataflash logging"));
if (!DataFlash.CardInserted()) { if (!DataFlash.CardInserted()) {
Serial.println_P(PSTR("ERR: No dataflash inserted")); Serial.println_P(PSTR("ERR: No dataflash inserted"));
return 0; return 0;
@ -412,111 +412,111 @@ test_logging(uint8_t argc, const Menu::arg *argv)
#if HIL_MODE == HIL_MODE_DISABLED || HIL_MODE == HIL_MODE_SENSORS #if HIL_MODE == HIL_MODE_DISABLED || HIL_MODE == HIL_MODE_SENSORS
#if CONFIG_ADC == ENABLED #if CONFIG_ADC == ENABLED
static int8_t static int8_t
test_adc(uint8_t argc, const Menu::arg *argv) test_adc(uint8_t argc, const Menu::arg *argv)
{ {
print_hit_enter(); print_hit_enter();
adc.Init(&timer_scheduler); adc.Init(&timer_scheduler);
delay(1000); delay(1000);
Serial.printf_P(PSTR("ADC\n")); Serial.printf_P(PSTR("ADC\n"));
delay(1000); delay(1000);
while(1){ while(1) {
for (int16_t i=0;i<9;i++) Serial.printf_P(PSTR("%.1f\t"),adc.Ch(i)); for (int16_t i=0; i<9; i++) Serial.printf_P(PSTR("%.1f\t"),adc.Ch(i));
Serial.println(); Serial.println();
delay(100); delay(100);
if(Serial.available() > 0){ if(Serial.available() > 0) {
return (0); return (0);
} }
} }
} }
#endif // CONFIG_ADC #endif // CONFIG_ADC
static int8_t static int8_t
test_gps(uint8_t argc, const Menu::arg *argv) test_gps(uint8_t argc, const Menu::arg *argv)
{ {
print_hit_enter(); print_hit_enter();
delay(1000); delay(1000);
while(1){ while(1) {
delay(333); delay(333);
// Blink GPS LED if we don't have a fix // Blink GPS LED if we don't have a fix
// ------------------------------------ // ------------------------------------
update_GPS_light(); update_GPS_light();
g_gps->update(); g_gps->update();
if (g_gps->new_data){ if (g_gps->new_data) {
Serial.printf_P(PSTR("Lat: %ld, Lon %ld, Alt: %ldm, #sats: %d\n"), Serial.printf_P(PSTR("Lat: %ld, Lon %ld, Alt: %ldm, #sats: %d\n"),
(long)g_gps->latitude, (long)g_gps->latitude,
(long)g_gps->longitude, (long)g_gps->longitude,
(long)g_gps->altitude/100, (long)g_gps->altitude/100,
(int)g_gps->num_sats); (int)g_gps->num_sats);
}else{ }else{
Serial.printf_P(PSTR(".")); Serial.printf_P(PSTR("."));
} }
if(Serial.available() > 0){ if(Serial.available() > 0) {
return (0); return (0);
} }
} }
} }
static int8_t static int8_t
test_imu(uint8_t argc, const Menu::arg *argv) test_imu(uint8_t argc, const Menu::arg *argv)
{ {
//Serial.printf_P(PSTR("Calibrating.")); //Serial.printf_P(PSTR("Calibrating."));
imu.init(IMU::COLD_START, delay, flash_leds, &timer_scheduler); imu.init(IMU::COLD_START, delay, flash_leds, &timer_scheduler);
ahrs.reset(); ahrs.reset();
print_hit_enter(); print_hit_enter();
delay(1000); delay(1000);
while(1){ while(1) {
delay(20); delay(20);
if (millis() - fast_loopTimer_ms > 19) { if (millis() - fast_loopTimer_ms > 19) {
delta_ms_fast_loop = millis() - fast_loopTimer_ms; delta_ms_fast_loop = millis() - fast_loopTimer_ms;
G_Dt = (float)delta_ms_fast_loop / 1000.f; // used by DCM integrator G_Dt = (float)delta_ms_fast_loop / 1000.f; // used by DCM integrator
fast_loopTimer_ms = millis(); fast_loopTimer_ms = millis();
// IMU // IMU
// --- // ---
ahrs.update(); ahrs.update();
if(g.compass_enabled) { if(g.compass_enabled) {
medium_loopCounter++; medium_loopCounter++;
if(medium_loopCounter == 5){ if(medium_loopCounter == 5) {
compass.read(); compass.read();
medium_loopCounter = 0; medium_loopCounter = 0;
} }
} }
// We are using the IMU // We are using the IMU
// --------------------- // ---------------------
Vector3f gyros = imu.get_gyro(); Vector3f gyros = imu.get_gyro();
Vector3f accels = imu.get_accel(); Vector3f accels = 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)\n"), Serial.printf_P(PSTR("r:%4d p:%4d y:%3d g=(%5.1f %5.1f %5.1f) a=(%5.1f %5.1f %5.1f)\n"),
(int)ahrs.roll_sensor / 100, (int)ahrs.roll_sensor / 100,
(int)ahrs.pitch_sensor / 100, (int)ahrs.pitch_sensor / 100,
(uint16_t)ahrs.yaw_sensor / 100, (uint16_t)ahrs.yaw_sensor / 100,
gyros.x, gyros.y, gyros.z, gyros.x, gyros.y, gyros.z,
accels.x, accels.y, accels.z); accels.x, accels.y, accels.z);
} }
if(Serial.available() > 0){ if(Serial.available() > 0) {
return (0); return (0);
} }
} }
} }
static int8_t static int8_t
test_mag(uint8_t argc, const Menu::arg *argv) test_mag(uint8_t argc, const Menu::arg *argv)
{ {
if (!g.compass_enabled) { if (!g.compass_enabled) {
Serial.printf_P(PSTR("Compass: ")); Serial.printf_P(PSTR("Compass: "));
print_enabled(false); print_enabled(false);
return (0); return (0);
} }
compass.set_orientation(MAG_ORIENTATION); compass.set_orientation(MAG_ORIENTATION);
@ -528,29 +528,29 @@ test_mag(uint8_t argc, const Menu::arg *argv)
report_compass(); report_compass();
// we need the AHRS initialised for this test // we need the AHRS initialised for this test
imu.init(IMU::COLD_START, delay, flash_leds, &timer_scheduler); imu.init(IMU::COLD_START, delay, flash_leds, &timer_scheduler);
ahrs.reset(); ahrs.reset();
int16_t counter = 0; int16_t counter = 0;
float heading = 0; float heading = 0;
//Serial.printf_P(PSTR("MAG_ORIENTATION: %d\n"), MAG_ORIENTATION); //Serial.printf_P(PSTR("MAG_ORIENTATION: %d\n"), MAG_ORIENTATION);
print_hit_enter(); print_hit_enter();
while(1) { while(1) {
delay(20); delay(20);
if (millis() - fast_loopTimer_ms > 19) { if (millis() - fast_loopTimer_ms > 19) {
delta_ms_fast_loop = millis() - fast_loopTimer_ms; delta_ms_fast_loop = millis() - fast_loopTimer_ms;
G_Dt = (float)delta_ms_fast_loop / 1000.f; // used by DCM integrator G_Dt = (float)delta_ms_fast_loop / 1000.f; // used by DCM integrator
fast_loopTimer_ms = millis(); fast_loopTimer_ms = millis();
// IMU // IMU
// --- // ---
ahrs.update(); ahrs.update();
medium_loopCounter++; medium_loopCounter++;
if(medium_loopCounter == 5){ if(medium_loopCounter == 5) {
if (compass.read()) { if (compass.read()) {
// Calculate heading // Calculate heading
Matrix3f m = ahrs.get_dcm_matrix(); Matrix3f m = ahrs.get_dcm_matrix();
@ -560,8 +560,8 @@ test_mag(uint8_t argc, const Menu::arg *argv)
medium_loopCounter = 0; medium_loopCounter = 0;
} }
counter++; counter++;
if (counter>20) { if (counter>20) {
if (compass.healthy) { if (compass.healthy) {
Vector3f maggy = compass.get_offsets(); Vector3f maggy = compass.get_offsets();
Serial.printf_P(PSTR("Heading: %ld, XYZ: %d, %d, %d,\tXYZoff: %6.2f, %6.2f, %6.2f\n"), Serial.printf_P(PSTR("Heading: %ld, XYZ: %d, %d, %d,\tXYZoff: %6.2f, %6.2f, %6.2f\n"),
@ -577,7 +577,7 @@ test_mag(uint8_t argc, const Menu::arg *argv)
} }
counter=0; counter=0;
} }
} }
if (Serial.available() > 0) { if (Serial.available() > 0) {
break; break;
} }
@ -601,46 +601,46 @@ static int8_t
test_airspeed(uint8_t argc, const Menu::arg *argv) test_airspeed(uint8_t argc, const Menu::arg *argv)
{ {
float airspeed_ch = pitot_analog_source.read(); float airspeed_ch = pitot_analog_source.read();
// Serial.println(pitot_analog_source.read()); // Serial.println(pitot_analog_source.read());
Serial.printf_P(PSTR("airspeed_ch: %.1f\n"), airspeed_ch); Serial.printf_P(PSTR("airspeed_ch: %.1f\n"), airspeed_ch);
if (!airspeed.enabled()) { if (!airspeed.enabled()) {
Serial.printf_P(PSTR("airspeed: ")); Serial.printf_P(PSTR("airspeed: "));
print_enabled(false); print_enabled(false);
return (0); return (0);
}else{ }else{
print_hit_enter(); print_hit_enter();
zero_airspeed(); zero_airspeed();
Serial.printf_P(PSTR("airspeed: ")); Serial.printf_P(PSTR("airspeed: "));
print_enabled(true); print_enabled(true);
while(1){ while(1) {
delay(20); delay(20);
read_airspeed(); read_airspeed();
Serial.printf_P(PSTR("%.1f m/s\n"), airspeed.get_airspeed()); Serial.printf_P(PSTR("%.1f m/s\n"), airspeed.get_airspeed());
if(Serial.available() > 0){ if(Serial.available() > 0) {
return (0); return (0);
} }
} }
} }
} }
static int8_t static int8_t
test_pressure(uint8_t argc, const Menu::arg *argv) test_pressure(uint8_t argc, const Menu::arg *argv)
{ {
Serial.printf_P(PSTR("Uncalibrated relative airpressure\n")); Serial.printf_P(PSTR("Uncalibrated relative airpressure\n"));
print_hit_enter(); print_hit_enter();
home.alt = 0; home.alt = 0;
wp_distance = 0; wp_distance = 0;
init_barometer(); init_barometer();
while(1){ while(1) {
delay(100); delay(100);
current_loc.alt = read_barometer() + home.alt; current_loc.alt = read_barometer() + home.alt;
if (!barometer.healthy) { if (!barometer.healthy) {
Serial.println_P(PSTR("not healthy")); Serial.println_P(PSTR("not healthy"));
@ -650,33 +650,33 @@ test_pressure(uint8_t argc, const Menu::arg *argv)
barometer.get_pressure(), 0.1*barometer.get_temperature()); barometer.get_pressure(), 0.1*barometer.get_temperature());
} }
if(Serial.available() > 0){ if(Serial.available() > 0) {
return (0); return (0);
} }
} }
} }
static int8_t static int8_t
test_rawgps(uint8_t argc, const Menu::arg *argv) test_rawgps(uint8_t argc, const Menu::arg *argv)
{ {
print_hit_enter(); print_hit_enter();
delay(1000); delay(1000);
while(1){ while(1) {
if (Serial3.available()){ if (Serial3.available()) {
digitalWrite(B_LED_PIN, LED_ON); // Blink Yellow LED if we are sending data to GPS digitalWrite(B_LED_PIN, LED_ON); // Blink Yellow LED if we are sending data to GPS
Serial1.write(Serial3.read()); Serial1.write(Serial3.read());
digitalWrite(B_LED_PIN, LED_OFF); digitalWrite(B_LED_PIN, LED_OFF);
} }
if (Serial1.available()){ if (Serial1.available()) {
digitalWrite(C_LED_PIN, LED_ON); // Blink Red LED if we are receiving data from GPS digitalWrite(C_LED_PIN, LED_ON); // Blink Red LED if we are receiving data from GPS
Serial3.write(Serial1.read()); Serial3.write(Serial1.read());
digitalWrite(C_LED_PIN, LED_OFF); digitalWrite(C_LED_PIN, LED_OFF);
} }
if(Serial.available() > 0){ if(Serial.available() > 0) {
return (0); return (0);
} }
} }
} }
#endif // HIL_MODE == HIL_MODE_DISABLED #endif // HIL_MODE == HIL_MODE_DISABLED