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