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Rover: fixed CLI sonartest

This commit is contained in:
Andrew Tridgell 2014-11-11 11:33:51 +11:00
parent b2badee172
commit ef62a2c697
1 changed files with 6 additions and 2 deletions
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8
APMrover2/test.pde
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@ -455,12 +455,15 @@ test_mag(uint8_t argc, const Menu::arg *argv)
static int8_t static int8_t
test_sonar(uint8_t argc, const Menu::arg *argv) test_sonar(uint8_t argc, const Menu::arg *argv)
{ {
init_sonar();
delay(20);
sonar.update();
if (!sonar.healthy()) { if (!sonar.healthy()) {
cliSerial->println_P(PSTR("WARNING: Sonar is not enabled")); cliSerial->println_P(PSTR("WARNING: Sonar is not enabled"));
} }
print_hit_enter(); print_hit_enter();
init_sonar();
float sonar_dist_cm_min = 0.0f; float sonar_dist_cm_min = 0.0f;
float sonar_dist_cm_max = 0.0f; float sonar_dist_cm_max = 0.0f;
@ -472,8 +475,9 @@ test_sonar(uint8_t argc, const Menu::arg *argv)
while (true) { while (true) {
delay(20); delay(20);
sonar.update();
uint32_t now = millis(); uint32_t now = millis();
float dist_cm = sonar.distance_cm(0); float dist_cm = sonar.distance_cm(0);
float voltage = sonar.voltage_mv(0); float voltage = sonar.voltage_mv(0);
if (sonar_dist_cm_min == 0.0f) { if (sonar_dist_cm_min == 0.0f) {