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AP_Declination: added timing information to declination test

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This commit is contained in:
Andrew Tridgell 2012-03-30 13:38:32 +11:00
parent 01c4cde14f
commit edb627a5c1
1 changed files with 44 additions and 36 deletions
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80
libraries/AP_Declination/examples/AP_Declination_test/AP_Declination_test.pde
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@ -6,6 +6,8 @@
#include <AP_Math.h>
#include <AP_Declination.h>
#include <Filter.h>
#include <I2C.h>
#include <SPI.h>
#ifdef DESKTOP_BUILD
// all of this is needed to build with SITL
@ -66,42 +68,7 @@ static const int16_t dec_tbl[37][73] = \
{168,173,178,176,171,166,161,156,151,146,141,136,131,126,121,116,111,106,101,-96,-91,-86,-81,-76,-71,-66,-61,-56,-51,-46,-41,-36,-31,-26,-21,-16,-11,-6 ,-1 ,3 ,8 ,13 ,18 ,23 ,28 ,33 ,38 ,43 ,48 ,53 ,58 ,63 ,68 ,73 ,78 ,83 ,88 ,93 ,98 ,103,108,113,118,123,128,133,138,143,148,153,158,163,168}, \
};
void setup(void)
{
float declination, declination_test;
uint16_t pass = 0, fail = 0;
Serial.begin(115200);
Serial.print("Beginning Test. Please wait...\n");
for(int16_t i = -90; i <= 90; i+=5)
{
for(int16_t j = -180; j <= 180; j+=5)
{
declination = AP_Declination::get_declination(i, j);
declination_test = get_declination(i, j);
if(declination == declination_test)
{
//Serial.printf("Pass: %i, %i : %f, %f\n", i, j, declination, declination_test);
pass++;
}
else
{
Serial.printf("FAIL: %i, %i : %f, %f\n", i, j, declination, declination_test);
fail++;
}
}
}
Serial.print("Ending Test.\n\n");
Serial.printf("Total Pass: %i\n", pass);
Serial.printf("Total Fail: %i\n", fail);
}
void loop(void)
{
}
float get_declination(float lat, float lon)
static float get_declination(float lat, float lon)
{
int16_t decSW, decSE, decNW, decNE, lonmin, latmin;
float decmin, decmax;
@ -126,3 +93,44 @@ float get_declination(float lat, float lon)
decmax = (lon - lonmin) / 5 * (decNE - decNW) + decNW;
return (lat - latmin) / 5 * (decmax - decmin) + decmin;
}
void setup(void)
{
float declination, declination_test;
uint16_t pass = 0, fail = 0;
uint32_t total_time=0;
Serial.begin(115200);
Serial.print("Beginning Test. Please wait...\n");
for(int16_t i = -90; i <= 90; i+=5)
{
for(int16_t j = -180; j <= 180; j+=5)
{
uint32_t t1 = micros();
declination = AP_Declination::get_declination(i, j);
total_time += micros() - t1;
declination_test = get_declination(i, j);
if(declination == declination_test)
{
//Serial.printf("Pass: %i, %i : %f, %f\n", i, j, declination, declination_test);
pass++;
}
else
{
Serial.printf("FAIL: %i, %i : %f, %f\n", i, j, declination, declination_test);
fail++;
}
}
}
Serial.print("Ending Test.\n\n");
Serial.printf("Total Pass: %i\n", pass);
Serial.printf("Total Fail: %i\n", fail);
Serial.printf("Average time per call: %.1f usec\n",
total_time/(float)(pass+fail));
}
void loop(void)
{
}