/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
/*
    Airspeed.pde - airspeed example sketch

    This library is free software; you can redistribute it and/or
    modify it under the terms of the GNU Lesser General Public License
    as published by the Free Software Foundation; either version 2.1
    of the License, or (at your option) any later version.
*/

#include <FastSerial.h>
#include <AP_Common.h>
#include <AP_Math.h>
#include <AP_AnalogSource.h>
#include <AP_AnalogSource_Arduino.h>
#include <Arduino_Mega_ISR_Registry.h>
#include <AP_PeriodicProcess.h>
#include <Filter.h>
#include <AP_Airspeed.h>

Arduino_Mega_ISR_Registry isr_registry;
AP_TimerProcess  scheduler;

FastSerialPort0(Serial);

AP_AnalogSource_Arduino pin0(0);
AP_Airspeed airspeed(&pin0, 1.9936, true);

void setup()
{
	Serial.begin(115200, 128, 128);
	Serial.println("ArduPilot Airspeed library test");

	isr_registry.init();
	scheduler.init(&isr_registry);
	AP_AnalogSource_Arduino::init_timer(&scheduler);

	pinMode(0, INPUT);

	airspeed.calibrate(delay);
}

void loop(void)
{
	static uint32_t timer;
	if((millis() - timer) > 100){
		timer = millis();
		airspeed.read();
		Serial.printf("airspeed %.2f\n", airspeed.get_airspeed());
	}
}