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DCM_Test: fixed example code to work with SITL

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this also fixes the compass setup
This commit is contained in:
Andrew Tridgell 2012-03-03 11:10:39 +11:00
parent 8424609924
commit fe173227de
2 changed files with 46 additions and 15 deletions
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58
libraries/AP_DCM/examples/DCM_Test/DCM_Test.pde
View File

@ -16,6 +16,11 @@
#include <AP_Math.h>
#include <AP_Common.h>
#include <AP_Compass.h>
#include <DataFlash.h>
#include <APM_RC.h>
#include <GCS_MAVLink.h>
#include <AP_GPS.h>
#include <AP_Baro.h>
// uncomment this for a APM2 board
// #define APM2_HARDWARE
@ -25,7 +30,11 @@ FastSerialPort(Serial, 0);
Arduino_Mega_ISR_Registry isr_registry;
AP_TimerProcess scheduler;
AP_Compass_HMC5843 compass(AP_Var::k_key_none);
#ifdef DESKTOP_BUILD
AP_Compass_HIL compass;
#else
AP_Compass_HMC5843 compass;
#endif
#ifdef APM2_HARDWARE
AP_InertialSensor_MPU6000 ins( 53 );
@ -36,7 +45,9 @@ AP_Compass_HMC5843 compass(AP_Var::k_key_none);
static GPS *g_gps;
AP_IMU_INS imu( &ins, AP_Var::k_key_none );
AP_Baro_BMP085_HIL barometer;
AP_IMU_INS imu( &ins);
AP_DCM dcm(&imu, g_gps);
@ -69,9 +80,11 @@ void setup(void)
isr_registry.init();
scheduler.init(&isr_registry);
#ifndef DESKTOP_BUILD
I2c.begin();
I2c.timeOut(5);
I2c.setSpeed(true);
#endif
SPI.begin();
SPI.setClockDivider(SPI_CLOCK_DIV16);
@ -81,7 +94,7 @@ void setup(void)
compass.set_orientation(MAG_ORIENTATION);
if (compass.init()) {
printf("Enabling compass\n");
Serial.printf("Enabling compass\n");
compass.null_offsets_enable();
dcm.set_compass(&compass);
}
@ -89,22 +102,37 @@ void setup(void)
void loop(void)
{
Vector3f accel;
Vector3f gyro;
static uint8_t counter;
static uint16_t counter;
static uint32_t last_t, last_print;
uint32_t now = micros();
float deltat;
delay(20);
if (last_t == 0) {
last_t = now;
return;
}
deltat = (now - last_t) * 1.0e-6;
last_t = now;
compass.read();
compass.calculate(dcm.get_dcm_matrix());
dcm.update_DCM();
if (counter++ == 10) {
counter = 0;
delay(20);
counter++;
if (now - last_print >= 0.5e6) {
Vector3f accel = imu.get_accel();
Vector3f gyro = imu.get_gyro();
gyro = imu.get_gyro();
accel = 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"),
(int)dcm.roll_sensor / 100,
(int)dcm.pitch_sensor / 100,
(uint16_t)dcm.yaw_sensor / 100,
gyro.x, gyro.y, gyro.z,
accel.x, accel.y, accel.z);
Serial.printf_P(PSTR("r:%4d p:%4d y:%3d g=(%5.1f %5.1f %5.1f) a=(%5.1f %5.1f %5.1f) rate=%.1f\n"),
(int)dcm.roll_sensor / 100,
(int)dcm.pitch_sensor / 100,
(uint16_t)dcm.yaw_sensor / 100,
gyro.x, gyro.y, gyro.z,
accel.x, accel.y, accel.z,
(1.0e6*counter)/(now-last_print));
last_print = now;
counter = 0;
}
}

3
libraries/AP_DCM/examples/DCM_Test/Makefile
View File

@ -1 +1,4 @@
include ../../../AP_Common/Arduino.mk
sitl:
make -f ../../../../libraries/Desktop/Desktop.mk