// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*- #if CLI_ENABLED == ENABLED // These are function definitions so the Menu can be constructed before the functions // are defined below. Order matters to the compiler. static int8_t test_radio_pwm(uint8_t argc, const Menu::arg *argv); static int8_t test_radio(uint8_t argc, const Menu::arg *argv); //static int8_t test_failsafe(uint8_t argc, const Menu::arg *argv); //static int8_t test_stabilize(uint8_t argc, const Menu::arg *argv); static int8_t test_gps(uint8_t argc, const Menu::arg *argv); //static int8_t test_tri(uint8_t argc, const Menu::arg *argv); //static int8_t test_adc(uint8_t argc, const Menu::arg *argv); static int8_t test_ins(uint8_t argc, const Menu::arg *argv); //static int8_t test_imu(uint8_t argc, const Menu::arg *argv); //static int8_t test_dcm_eulers(uint8_t argc, const Menu::arg *argv); //static int8_t test_dcm(uint8_t argc, const Menu::arg *argv); //static int8_t test_omega(uint8_t argc, const Menu::arg *argv); //static int8_t test_stab_d(uint8_t argc, const Menu::arg *argv); static int8_t test_battery(uint8_t argc, const Menu::arg *argv); //static int8_t test_toy(uint8_t argc, const Menu::arg *argv); static int8_t test_wp_nav(uint8_t argc, const Menu::arg *argv); //static int8_t test_reverse(uint8_t argc, const Menu::arg *argv); static int8_t test_tuning(uint8_t argc, const Menu::arg *argv); static int8_t test_relay(uint8_t argc, const Menu::arg *argv); static int8_t test_wp(uint8_t argc, const Menu::arg *argv); #if HIL_MODE != HIL_MODE_ATTITUDE static int8_t test_baro(uint8_t argc, const Menu::arg *argv); static int8_t test_sonar(uint8_t argc, const Menu::arg *argv); #endif static int8_t test_mag(uint8_t argc, const Menu::arg *argv); static int8_t test_optflow(uint8_t argc, const Menu::arg *argv); static int8_t test_logging(uint8_t argc, const Menu::arg *argv); //static int8_t test_xbee(uint8_t argc, const Menu::arg *argv); static int8_t test_eedump(uint8_t argc, const Menu::arg *argv); static int8_t test_rawgps(uint8_t argc, const Menu::arg *argv); //static int8_t test_mission(uint8_t argc, const Menu::arg *argv); // this is declared here to remove compiler errors extern void print_latlon(BetterStream *s, int32_t lat_or_lon); // in Log.pde // This is the help function // PSTR is an AVR macro to read strings from flash memory // printf_P is a version of printf that reads from flash memory /*static int8_t help_test(uint8_t argc, const Menu::arg *argv) * { * Serial.printf_P(PSTR("\n" * "Commands:\n" * " radio\n" * " servos\n" * " g_gps\n" * " imu\n" * " battery\n" * "\n")); * }*/ // Creates a constant array of structs representing menu options // and stores them in Flash memory, not RAM. // User enters the string in the console to call the functions on the right. // See class Menu in AP_Coommon for implementation details const struct Menu::command test_menu_commands[] PROGMEM = { {"pwm", test_radio_pwm}, {"radio", test_radio}, // {"failsafe", test_failsafe}, // {"stabilize", test_stabilize}, {"gps", test_gps}, // {"adc", test_adc}, {"ins", test_ins}, // {"imu", test_imu}, // {"dcm", test_dcm_eulers}, //{"omega", test_omega}, // {"stab_d", test_stab_d}, {"battery", test_battery}, {"tune", test_tuning}, //{"tri", test_tri}, {"relay", test_relay}, {"wp", test_wp}, // {"toy", test_toy}, #if HIL_MODE != HIL_MODE_ATTITUDE {"altitude", test_baro}, {"sonar", test_sonar}, #endif {"compass", test_mag}, {"optflow", test_optflow}, //{"xbee", test_xbee}, {"eedump", test_eedump}, {"logging", test_logging}, // {"rawgps", test_rawgps}, // {"mission", test_mission}, //{"reverse", test_reverse}, {"nav", test_wp_nav}, }; // A Macro to create the Menu MENU(test_menu, "test", test_menu_commands); static int8_t test_mode(uint8_t argc, const Menu::arg *argv) { //Serial.printf_P(PSTR("Test Mode\n\n")); test_menu.run(); return 0; } static int8_t test_eedump(uint8_t argc, const Menu::arg *argv) { int i, j; // hexdump the EEPROM for (i = 0; i < EEPROM_MAX_ADDR; i += 16) { Serial.printf_P(PSTR("%04x:"), i); for (j = 0; j < 16; j++) Serial.printf_P(PSTR(" %02x"), eeprom_read_byte((const uint8_t *)(i + j))); Serial.println(); } return(0); } static int8_t test_radio_pwm(uint8_t argc, const Menu::arg *argv) { #if defined( __AVR_ATmega1280__ ) // test disabled to save code size for 1280 print_test_disabled(); return (0); #else print_hit_enter(); delay(1000); while(1) { delay(20); // Filters radio input - adjust filters in the radio.pde file // ---------------------------------------------------------- read_radio(); // servo Yaw //APM_RC.OutputCh(CH_7, g.rc_4.radio_out); Serial.printf_P(PSTR("IN: 1: %d\t2: %d\t3: %d\t4: %d\t5: %d\t6: %d\t7: %d\t8: %d\n"), g.rc_1.radio_in, g.rc_2.radio_in, g.rc_3.radio_in, g.rc_4.radio_in, g.rc_5.radio_in, g.rc_6.radio_in, g.rc_7.radio_in, g.rc_8.radio_in); if(Serial.available() > 0) { return (0); } } #endif } /* * //static int8_t * //test_tri(uint8_t argc, const Menu::arg *argv) * { * print_hit_enter(); * delay(1000); * * while(1){ * delay(20); * * // Filters radio input - adjust filters in the radio.pde file * // ---------------------------------------------------------- * read_radio(); * g.rc_4.servo_out = g.rc_4.control_in; * g.rc_4.calc_pwm(); * * Serial.printf_P(PSTR("input: %d\toutput%d\n"), * g.rc_4.control_in, * g.rc_4.radio_out); * * APM_RC.OutputCh(CH_TRI_YAW, g.rc_4.radio_out); * * if(Serial.available() > 0){ * return (0); * } * } * }*/ /* //static int8_t //test_toy(uint8_t argc, const Menu::arg *argv) { wp_distance = 0; int16_t max_speed = 0; for(int16_t i = 0; i < 200; i++){ int32_t temp = 2 * 100 * (wp_distance - g.waypoint_radius * 100); max_speed = sqrt((float)temp); max_speed = min(max_speed, g.waypoint_speed_max); Serial.printf("Zspeed: %ld, %d, %ld\n", temp, max_speed, wp_distance); wp_distance += 100; } return 0; } //*/ /*static int8_t * //test_toy(uint8_t argc, const Menu::arg *argv) * { * int16_t yaw_rate; * int16_t roll_rate; * g.rc_1.control_in = -2500; * g.rc_2.control_in = 2500; * * g.toy_yaw_rate = 3; * yaw_rate = g.rc_1.control_in / g.toy_yaw_rate; * roll_rate = ((int32_t)g.rc_2.control_in * (yaw_rate/100)) /40; * Serial.printf("yaw_rate, %d, roll_rate, %d\n", yaw_rate, roll_rate); * * g.toy_yaw_rate = 2; * yaw_rate = g.rc_1.control_in / g.toy_yaw_rate; * roll_rate = ((int32_t)g.rc_2.control_in * (yaw_rate/100)) /40; * Serial.printf("yaw_rate, %d, roll_rate, %d\n", yaw_rate, roll_rate); * * g.toy_yaw_rate = 1; * yaw_rate = g.rc_1.control_in / g.toy_yaw_rate; * roll_rate = ((int32_t)g.rc_2.control_in * (yaw_rate/100)) /40; * Serial.printf("yaw_rate, %d, roll_rate, %d\n", yaw_rate, roll_rate); * }*/ static int8_t test_radio(uint8_t argc, const Menu::arg *argv) { print_hit_enter(); delay(1000); while(1) { delay(20); read_radio(); Serial.printf_P(PSTR("IN 1: %d\t2: %d\t3: %d\t4: %d\t5: %d\t6: %d\t7: %d\n"), g.rc_1.control_in, g.rc_2.control_in, g.rc_3.control_in, g.rc_4.control_in, g.rc_5.control_in, g.rc_6.control_in, g.rc_7.control_in); //Serial.printf_P(PSTR("OUT 1: %d\t2: %d\t3: %d\t4: %d\n"), (g.rc_1.servo_out / 100), (g.rc_2.servo_out / 100), g.rc_3.servo_out, (g.rc_4.servo_out / 100)); /*Serial.printf_P(PSTR( "min: %d" * "\t in: %d" * "\t pwm_in: %d" * "\t sout: %d" * "\t pwm_out %d\n"), * g.rc_3.radio_min, * g.rc_3.control_in, * g.rc_3.radio_in, * g.rc_3.servo_out, * g.rc_3.pwm_out * ); */ if(Serial.available() > 0) { return (0); } } } /* * //static int8_t * //test_failsafe(uint8_t argc, const Menu::arg *argv) * { * * #if THROTTLE_FAILSAFE * byte fail_test; * print_hit_enter(); * for(int16_t i = 0; i < 50; i++){ * delay(20); * read_radio(); * } * * oldSwitchPosition = readSwitch(); * * Serial.printf_P(PSTR("Unplug battery, throttle in neutral, turn off radio.\n")); * while(g.rc_3.control_in > 0){ * delay(20); * read_radio(); * } * * while(1){ * delay(20); * read_radio(); * * if(g.rc_3.control_in > 0){ * Serial.printf_P(PSTR("THROTTLE CHANGED %d \n"), g.rc_3.control_in); * fail_test++; * } * * if(oldSwitchPosition != readSwitch()){ * Serial.printf_P(PSTR("CONTROL MODE CHANGED: ")); * Serial.println(flight_mode_strings[readSwitch()]); * fail_test++; * } * * if(g.throttle_fs_enabled && g.rc_3.get_failsafe()){ * Serial.printf_P(PSTR("THROTTLE FAILSAFE ACTIVATED: %d, "), g.rc_3.radio_in); * Serial.println(flight_mode_strings[readSwitch()]); * fail_test++; * } * * if(fail_test > 0){ * return (0); * } * if(Serial.available() > 0){ * Serial.printf_P(PSTR("LOS caused no change in ACM.\n")); * return (0); * } * } * #else * return (0); * #endif * } */ /* * //static int8_t * //test_stabilize(uint8_t argc, const Menu::arg *argv) * { * static byte ts_num; * * * print_hit_enter(); * delay(1000); * * // setup the radio * // --------------- * init_rc_in(); * * control_mode = STABILIZE; * Serial.printf_P(PSTR("g.pi_stabilize_roll.kP: %4.4f\n"), g.pi_stabilize_roll.kP()); * Serial.printf_P(PSTR("max_stabilize_dampener:%d\n\n "), max_stabilize_dampener); * * motors.auto_armed(false); * motors.armed(true); * * while(1){ * // 50 hz * if (millis() - fast_loopTimer > 19) { * delta_ms_fast_loop = millis() - fast_loopTimer; * fast_loopTimer = millis(); * G_Dt = (float)delta_ms_fast_loop / 1000.f; * * if(g.compass_enabled){ * medium_loopCounter++; * if(medium_loopCounter == 5){ * Matrix3f m = dcm.get_dcm_matrix(); * compass.read(); // Read magnetometer * compass.null_offsets(); * medium_loopCounter = 0; * } * } * * // for trim features * read_trim_switch(); * * // Filters radio input - adjust filters in the radio.pde file * // ---------------------------------------------------------- * read_radio(); * * // IMU * // --- * read_AHRS(); * * // allow us to zero out sensors with control switches * if(g.rc_5.control_in < 600){ * dcm.roll_sensor = dcm.pitch_sensor = 0; * } * * // custom code/exceptions for flight modes * // --------------------------------------- * update_current_flight_mode(); * * // write out the servo PWM values * // ------------------------------ * set_servos_4(); * * ts_num++; * if (ts_num > 10){ * ts_num = 0; * Serial.printf_P(PSTR("r: %d, p:%d, rc1:%d, "), * (int)(dcm.roll_sensor/100), * (int)(dcm.pitch_sensor/100), * g.rc_1.pwm_out); * * print_motor_out(); * } * // R: 1417, L: 1453 F: 1453 B: 1417 * * //Serial.printf_P(PSTR("timer: %d, r: %d\tp: %d\t y: %d\n"), (int)delta_ms_fast_loop, ((int)dcm.roll_sensor/100), ((int)dcm.pitch_sensor/100), ((uint16_t)dcm.yaw_sensor/100)); * //Serial.printf_P(PSTR("timer: %d, r: %d\tp: %d\t y: %d\n"), (int)delta_ms_fast_loop, ((int)dcm.roll_sensor/100), ((int)dcm.pitch_sensor/100), ((uint16_t)dcm.yaw_sensor/100)); * * if(Serial.available() > 0){ * if(g.compass_enabled){ * compass.save_offsets(); * report_compass(); * } * return (0); * } * * } * } * } */ /* * #if HIL_MODE != HIL_MODE_ATTITUDE && CONFIG_ADC == ENABLED * //static int8_t * //test_adc(uint8_t argc, const Menu::arg *argv) * { * print_hit_enter(); * Serial.printf_P(PSTR("ADC\n")); * delay(1000); * * adc.Init(&timer_scheduler); * * delay(50); * * while(1){ * for(int16_t i = 0; i < 9; i++){ * Serial.printf_P(PSTR("%.1f,"),adc.Ch(i)); * } * Serial.println(); * delay(20); * if(Serial.available() > 0){ * return (0); * } * } * } * #endif */ /* * static int8_t * test_adc(uint8_t argc, const Menu::arg *argv) * { * ins.init(&timer_scheduler); * * int8_t mytimer = 0; * startup_ground(); * Serial.println("OK"); * * while(1){ * // We want this to execute fast * // ---------------------------- * uint32_t timer = micros(); * * if ((timer - fast_loopTimer) >= 10000 && imu.new_data_available()) { * G_Dt = (float)(timer - fast_loopTimer) / 1000000.f; // used by PI Loops * fast_loopTimer = timer; * * read_AHRS(); * * //calc_inertia(); * accels_rotated = ahrs.get_dcm_matrix() * imu.get_accel(); * //accels_rotated += accels_offset; // skew accels to account for long term error using calibration * * mytimer++; * * if ((timer - fiftyhz_loopTimer) >= 20000) { * fiftyhz_loopTimer = timer; * //sensed_loc.lng = sensed_loc.lat = sensed_loc.alt = 0; * * // position fix * //inertial_error_correction(); * } * * if (mytimer >= 10){ * float test = sqrt(sq(accels_rotated.x) + sq(accels_rotated.y) + sq(accels_rotated.z)) / 9.80665; * * Vector3f _accels = imu.get_accel(); * mytimer = 0; * * * Serial.printf("%1.4f, %1.4f, %1.4f | %1.4f, %1.4f, %1.4f | %d, %1.4f, %d, %1.4f \n", * _accels.x, * _accels.y, * _accels.z, * accels_rotated.x, * accels_rotated.y, * accels_rotated.z, * test); * * * } * * if(Serial.available() > 0){ * return (0); * } * } * } * return (0); * } */ static int8_t test_ins(uint8_t argc, const Menu::arg *argv) { #if defined( __AVR_ATmega1280__ ) // test disabled to save code size for 1280 print_test_disabled(); return (0); #else float gyro[3], accel[3], temp; print_hit_enter(); Serial.printf_P(PSTR("InertialSensor\n")); delay(1000); ins.init(&timer_scheduler); delay(50); while(1) { ins.update(); ins.get_gyros(gyro); ins.get_accels(accel); temp = ins.temperature(); float test = sqrt(sq(accel[0]) + sq(accel[1]) + sq(accel[2])) / 9.80665; Serial.printf_P(PSTR("g")); for (int16_t i = 0; i < 3; i++) { Serial.printf_P(PSTR(" %7.4f"), gyro[i]); } Serial.printf_P(PSTR(" a")); for (int16_t i = 0; i < 3; i++) { Serial.printf_P(PSTR(" %7.4f"),accel[i]); } Serial.printf_P(PSTR(" t %7.4f "), temp); Serial.printf_P(PSTR(" | %7.4f \n"), test); delay(40); if(Serial.available() > 0) { return (0); } } #endif } /* * test the IMU interface */ /* * static int8_t * test_imu(uint8_t argc, const Menu::arg *argv) * { * #if defined( __AVR_ATmega1280__ ) // test disabled to save code size for 1280 * print_test_disabled(); * return (0); * #else * Vector3f gyro; * Vector3f accel; * * imu.init(IMU::WARM_START, delay, flash_leds, &timer_scheduler); * * report_imu(); * imu.init_gyro(delay, flash_leds); * report_imu(); * * print_hit_enter(); * delay(1000); * * while(1){ * delay(40); * * imu.update(); * gyro = imu.get_gyro(); * accel = imu.get_accel(); * * Serial.printf_P(PSTR("g %8.4f %8.4f %8.4f"), gyro.x, gyro.y, gyro.z); * Serial.printf_P(PSTR(" a %8.4f %8.4f %8.4f\n"), accel.x, accel.y, accel.z); * * if(Serial.available() > 0){ * return (0); * } * } * #endif * } */ /* * static int8_t * test_imu(uint8_t argc, const Menu::arg *argv) * { * print_hit_enter(); * Serial.printf_P(PSTR("ADC\n")); * adc.Init(&timer_scheduler); * * delay(1000); * Vector3f avg; * avg.x = adc.Ch(4); * avg.y = adc.Ch(5); * avg.z = adc.Ch(6); * * //Serial.printf_P(PSTR("init %.2f, %.2f, %.2f\n"), avg.x, avg.y, avg.z); * Vector3f low = avg; * Vector3f high = avg; * * while(1){ * delay(100); * avg.x = avg.x * .95 + adc.Ch(4) * .05; * avg.y = avg.y * .95 + adc.Ch(5) * .05; * avg.z = avg.z * .95 + adc.Ch(6) * .05; * * if(avg.x > high.x) * high.x = ceil(high.x *.9 + avg.x * .1); * * if(avg.y > high.y) * high.y = ceil(high.y *.9 + avg.y * .1); * * if(avg.z > high.z) * high.z = ceil(high.z *.9 + avg.z * .1); * * // * if(avg.x < low.x) * low.x = floor(low.x *.9 + avg.x * .1); * * if(avg.y < low.y) * low.y = floor(low.y *.9 + avg.y * .1); * * if(avg.z < low.z) * low.z = floor(low.z *.9 + avg.z * .1); * * Serial.printf_P(PSTR("%.2f, %.2f, %.2f \t| %.2f, %.2f, %.2f \t| %.2f, %.2f, %.2f\n"), avg.x, avg.y, avg.z, low.x, low.y, low.z, high.x, high.y, high.z); * * //Serial.printf_P(PSTR("%.2f, %.2f, %.2f \t| %d, %d\n"), avg.x, avg.y, avg.z, _count[0], _sum[0]); * * //Serial.println(); * if(Serial.available() > 0){ * Serial.printf_P(PSTR("Y to save\n")); * int16_t c; * c = Serial.read(); * * do { * c = Serial.read(); * } while (-1 == c); * * if (('y' == c) || ('Y' == c)){ * ins._x_high = high.x; * ins._x_low = low.x; * ins._y_high = high.y; * ins._y_low = low.y; * ins._z_high = high.z; * ins._z_low = low.z; * ins._x_high.save(); * ins._x_low.save(); * ins._y_high.save(); * ins._y_low.save(); * ins._z_high.save(); * ins._z_low.save(); * Serial.printf_P(PSTR("saved\n")); * } * * return (0); * } * } * } */ /* * test the DCM code, printing Euler angles */ /*static int8_t * //test_dcm_eulers(uint8_t argc, const Menu::arg *argv) * { * * //Serial.printf_P(PSTR("Calibrating.")); * * //dcm.kp_yaw(0.02); * //dcm.ki_yaw(0); * * imu.init(IMU::WARM_START, delay, flash_leds, &timer_scheduler); * * report_imu(); * imu.init_gyro(delay, flash_leds); * report_imu(); * * print_hit_enter(); * delay(1000); * * //float cos_roll, sin_roll, cos_pitch, sin_pitch, cos_yaw, sin_yaw; * fast_loopTimer = millis(); * * while(1){ * //delay(20); * if (millis() - fast_loopTimer >=20) { * * // IMU * // --- * read_AHRS(); * medium_loopCounter++; * * if(medium_loopCounter == 4){ * update_trig(); * } * * if(medium_loopCounter == 1){ * medium_loopCounter = 0; * Serial.printf_P(PSTR("dcm: %6.1f, %6.1f, %6.1f omega: %6.1f, %6.1f, %6.1f\n"), * dcm.roll_sensor/100.0, * dcm.pitch_sensor/100.0, * dcm.yaw_sensor/100.0, * degrees(omega.x), * degrees(omega.y), * degrees(omega.z)); * * if(g.compass_enabled){ * compass.read(); // Read magnetometer * compass.null_offsets(); * } * } * fast_loopTimer = millis(); * } * if(Serial.available() > 0){ * return (0); * } * } * return (0); * }*/ static int8_t test_gps(uint8_t argc, const Menu::arg *argv) { // test disabled to save code size for 1280 #if defined( __AVR_ATmega1280__ ) || HIL_MODE != HIL_MODE_DISABLED print_test_disabled(); return (0); #else print_hit_enter(); delay(1000); while(1) { delay(333); // Blink GPS LED if we don't have a fix // ------------------------------------ update_GPS_light(); g_gps->update(); if (g_gps->new_data) { Serial.printf_P(PSTR("Lat: ")); print_latlon(&Serial, g_gps->latitude); Serial.printf_P(PSTR(", Lon ")); print_latlon(&Serial, g_gps->longitude); Serial.printf_P(PSTR(", Alt: %ldm, #sats: %d\n"), g_gps->altitude/100, g_gps->num_sats); g_gps->new_data = false; }else{ Serial.print("."); } if(Serial.available() > 0) { return (0); } } return 0; #endif } // used to test the gain scheduler for Stab_D /* * static int8_t * test_stab_d(uint8_t argc, const Menu::arg *argv) * { * int16_t i = 0; * g.stabilize_d = 1; * * g.stabilize_d_schedule = 1 * for (i = -4600; i < 4600; i+=10) { * new_radio_frame = true; * g.rc_1.control_in = i; * g.rc_2.control_in = i; * update_roll_pitch_mode(); * Serial.printf("rin:%d, d:%1.6f \tpin:%d, d:%1.6f\n",g.rc_1.control_in, roll_scale_d, g.rc_2.control_in, pitch_scale_d); * } * g.stabilize_d_schedule = .5 * for (i = -4600; i < 4600; i+=10) { * new_radio_frame = true; * g.rc_1.control_in = i; * g.rc_2.control_in = i; * update_roll_pitch_mode(); * Serial.printf("rin:%d, d:%1.6f \tpin:%d, d:%1.6f\n",g.rc_1.control_in, roll_scale_d, g.rc_2.control_in, pitch_scale_d); * } * * g.stabilize_d_schedule = 0 * for (i = -4600; i < 4600; i+=10) { * new_radio_frame = true; * g.rc_1.control_in = i; * g.rc_2.control_in = i; * update_roll_pitch_mode(); * Serial.printf("rin:%d, d:%1.6f \tpin:%d, d:%1.6f\n",g.rc_1.control_in, roll_scale_d, g.rc_2.control_in, pitch_scale_d); * } * * }*/ /* * //static int8_t * //test_dcm(uint8_t argc, const Menu::arg *argv) * { * print_hit_enter(); * delay(1000); * Serial.printf_P(PSTR("Gyro | Accel\n")); * Vector3f _cam_vector; * Vector3f _out_vector; * * G_Dt = .02; * * while(1){ * for(byte i = 0; i <= 50; i++){ * delay(20); * // IMU * // --- * read_AHRS(); * } * * Matrix3f temp = dcm.get_dcm_matrix(); * Matrix3f temp_t = dcm.get_dcm_transposed(); * * Serial.printf_P(PSTR("dcm\n" * "%4.4f \t %4.4f \t %4.4f \n" * "%4.4f \t %4.4f \t %4.4f \n" * "%4.4f \t %4.4f \t %4.4f \n\n"), * temp.a.x, temp.a.y, temp.a.z, * temp.b.x, temp.b.y, temp.b.z, * temp.c.x, temp.c.y, temp.c.z); * * int16_t _pitch = degrees(-asin(temp.c.x)); * int16_t _roll = degrees(atan2(temp.c.y, temp.c.z)); * int16_t _yaw = degrees(atan2(temp.b.x, temp.a.x)); * Serial.printf_P(PSTR( "angles\n" * "%d \t %d \t %d\n\n"), * _pitch, * _roll, * _yaw); * * //_out_vector = _cam_vector * temp; * //Serial.printf_P(PSTR( "cam\n" * // "%d \t %d \t %d\n\n"), * // (int)temp.a.x * 100, (int)temp.a.y * 100, (int)temp.a.x * 100); * * if(Serial.available() > 0){ * return (0); * } * } * } */ /* * //static int8_t * //test_dcm(uint8_t argc, const Menu::arg *argv) * { * print_hit_enter(); * delay(1000); * Serial.printf_P(PSTR("Gyro | Accel\n")); * delay(1000); * * while(1){ * Vector3f accels = dcm.get_accel(); * Serial.print("accels.z:"); * Serial.print(accels.z); * Serial.print("omega.z:"); * Serial.print(omega.z); * delay(100); * * if(Serial.available() > 0){ * return (0); * } * } * } */ /*static int8_t * //test_omega(uint8_t argc, const Menu::arg *argv) * { * static byte ts_num; * float old_yaw; * * print_hit_enter(); * delay(1000); * Serial.printf_P(PSTR("Omega")); * delay(1000); * * G_Dt = .02; * * while(1){ * delay(20); * // IMU * // --- * read_AHRS(); * * float my_oz = (dcm.yaw - old_yaw) * 50; * * old_yaw = dcm.yaw; * * ts_num++; * if (ts_num > 2){ * ts_num = 0; * //Serial.printf_P(PSTR("R: %4.4f\tP: %4.4f\tY: %4.4f\tY: %4.4f\n"), omega.x, omega.y, omega.z, my_oz); * Serial.printf_P(PSTR(" Yaw: %ld\tY: %4.4f\tY: %4.4f\n"), dcm.yaw_sensor, omega.z, my_oz); * } * * if(Serial.available() > 0){ * return (0); * } * } * return (0); * } * //*/ static int8_t test_tuning(uint8_t argc, const Menu::arg *argv) { print_hit_enter(); while(1) { delay(200); read_radio(); tuning(); Serial.printf_P(PSTR("tune: %1.3f\n"), tuning_value); if(Serial.available() > 0) { return (0); } } } static int8_t test_battery(uint8_t argc, const Menu::arg *argv) { #if defined( __AVR_ATmega1280__ ) // disable this test if we are using 1280 print_test_disabled(); return (0); #else Serial.printf_P(PSTR("\nCareful! Motors will spin! Press Enter to start.\n")); Serial.flush(); while(!Serial.available()) { delay(100); } Serial.flush(); print_hit_enter(); // allow motors to spin motors.enable(); motors.armed(true); while(1) { delay(100); read_radio(); read_battery(); if (g.battery_monitoring == 3) { Serial.printf_P(PSTR("V: %4.4f\n"), battery_voltage1, current_amps1, current_total1); } else { Serial.printf_P(PSTR("V: %4.4f, A: %4.4f, Ah: %4.4f\n"), battery_voltage1, current_amps1, current_total1); } motors.throttle_pass_through(); if(Serial.available() > 0) { motors.armed(false); return (0); } } motors.armed(false); return (0); #endif } static int8_t test_relay(uint8_t argc, const Menu::arg *argv) { #if defined( __AVR_ATmega1280__ ) // test disabled to save code size for 1280 print_test_disabled(); return (0); #else print_hit_enter(); delay(1000); 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); } } #endif } static int8_t test_wp(uint8_t argc, const Menu::arg *argv) { delay(1000); // save the alitude above home option Serial.printf_P(PSTR("Hold alt ")); if(g.RTL_altitude < 0) { Serial.printf_P(PSTR("\n")); }else{ Serial.printf_P(PSTR("of %dm\n"), (int)g.RTL_altitude / 100); } Serial.printf_P(PSTR("%d wp\n"), (int)g.command_total); Serial.printf_P(PSTR("Hit rad: %dm\n"), (int)g.waypoint_radius); //Serial.printf_P(PSTR("Loiter radius: %d\n\n"), (int)g.loiter_radius); report_wp(); return (0); } //static int8_t test_rawgps(uint8_t argc, const Menu::arg *argv) { /* * 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); * } * } */ //} /*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")); * * while(1){ * if (Serial3.available()) * Serial3.write(Serial3.read()); * * if(Serial.available() > 0){ * return (0); * } * } * } */ #if HIL_MODE != HIL_MODE_ATTITUDE static int8_t test_baro(uint8_t argc, const Menu::arg *argv) { #if defined( __AVR_ATmega1280__ ) // test disabled to save code size for 1280 print_test_disabled(); return (0); #else print_hit_enter(); init_barometer(); while(1) { delay(100); int32_t alt = read_barometer(); // calls barometer.read() int32_t pres = barometer.get_pressure(); int16_t temp = barometer.get_temperature(); int32_t raw_pres = barometer.get_raw_pressure(); int32_t raw_temp = barometer.get_raw_temp(); Serial.printf_P(PSTR("alt: %ldcm, pres: %ldmbar, temp: %d/100degC," " raw pres: %ld, raw temp: %ld\n"), alt, pres,temp, raw_pres, raw_temp); if(Serial.available() > 0) { return (0); } } return 0; #endif } #endif static int8_t test_mag(uint8_t argc, const Menu::arg *argv) { #if defined( __AVR_ATmega1280__ ) // test disabled to save code size for 1280 print_test_disabled(); return (0); #else if(g.compass_enabled) { print_hit_enter(); while(1) { delay(100); if (compass.read()) { float heading = compass.calculate_heading(ahrs.get_dcm_matrix()); Serial.printf_P(PSTR("Heading: %ld, XYZ: %d, %d, %d\n"), (wrap_360(ToDeg(heading) * 100)) /100, compass.mag_x, compass.mag_y, compass.mag_z); } else { Serial.println_P(PSTR("not healthy")); } if(Serial.available() > 0) { return (0); } } } else { Serial.printf_P(PSTR("Compass: ")); print_enabled(false); return (0); } return (0); #endif } /* * //static int8_t * //test_reverse(uint8_t argc, const Menu::arg *argv) * { * print_hit_enter(); * delay(1000); * * while(1){ * delay(20); * * // Filters radio input - adjust filters in the radio.pde file * // ---------------------------------------------------------- * g.rc_4.set_reverse(0); * g.rc_4.set_pwm(APM_RC.InputCh(CH_4)); * g.rc_4.servo_out = g.rc_4.control_in; * g.rc_4.calc_pwm(); * Serial.printf_P(PSTR("PWM:%d input: %d\toutput%d "), * APM_RC.InputCh(CH_4), * g.rc_4.control_in, * g.rc_4.radio_out); * APM_RC.OutputCh(CH_6, g.rc_4.radio_out); * * * g.rc_4.set_reverse(1); * g.rc_4.set_pwm(APM_RC.InputCh(CH_4)); * g.rc_4.servo_out = g.rc_4.control_in; * g.rc_4.calc_pwm(); * Serial.printf_P(PSTR("\trev input: %d\toutput%d\n"), * g.rc_4.control_in, * g.rc_4.radio_out); * * APM_RC.OutputCh(CH_7, g.rc_4.radio_out); * * if(Serial.available() > 0){ * g.rc_4.set_reverse(0); * return (0); * } * } * }*/ #if HIL_MODE != HIL_MODE_ATTITUDE /* * test the sonar */ static int8_t test_sonar(uint8_t argc, const Menu::arg *argv) { if(g.sonar_enabled == false) { Serial.printf_P(PSTR("Sonar disabled\n")); return (0); } // make sure sonar is initialised init_sonar(); print_hit_enter(); while(1) { delay(100); Serial.printf_P(PSTR("Sonar: %d cm\n"), sonar.read()); //Serial.printf_P(PSTR("Sonar, %d, %d\n"), sonar.read(), sonar.raw_value); if(Serial.available() > 0) { return (0); } } return (0); } #endif static int8_t test_optflow(uint8_t argc, const Menu::arg *argv) { #ifdef OPTFLOW_ENABLED if(g.optflow_enabled) { Serial.printf_P(PSTR("man id: %d\t"),optflow.read_register(ADNS3080_PRODUCT_ID)); print_hit_enter(); while(1) { delay(200); optflow.update(millis()); Log_Write_Optflow(); Serial.printf_P(PSTR("x/dx: %d/%d\t y/dy %d/%d\t squal:%d\n"), optflow.x, optflow.dx, optflow.y, optflow.dy, optflow.surface_quality); if(Serial.available() > 0) { return (0); } } } else { Serial.printf_P(PSTR("OptFlow: ")); print_enabled(false); } return (0); #else print_test_disabled(); return (0); #endif } static int8_t test_wp_nav(uint8_t argc, const Menu::arg *argv) { current_loc.lat = 389539260; current_loc.lng = -1199540200; next_WP.lat = 389538528; next_WP.lng = -1199541248; // got 23506;, should be 22800 navigate(); Serial.printf("bear: %ld\n", target_bearing); return 0; } /* * test the dataflash is working */ static int8_t test_logging(uint8_t argc, const Menu::arg *argv) { #if defined( __AVR_ATmega1280__ ) // test disabled to save code size for 1280 print_test_disabled(); return (0); #else Serial.println_P(PSTR("Testing dataflash logging")); if (!DataFlash.CardInserted()) { Serial.println_P(PSTR("ERR: No dataflash inserted")); return 0; } DataFlash.ReadManufacturerID(); Serial.printf_P(PSTR("Manufacturer: 0x%02x Device: 0x%04x\n"), (unsigned)DataFlash.df_manufacturer, (unsigned)DataFlash.df_device); Serial.printf_P(PSTR("NumPages: %u PageSize: %u\n"), (unsigned)DataFlash.df_NumPages+1, (unsigned)DataFlash.df_PageSize); DataFlash.StartRead(DataFlash.df_NumPages+1); Serial.printf_P(PSTR("Format version: %lx Expected format version: %lx\n"), (unsigned long)DataFlash.ReadLong(), (unsigned long)DF_LOGGING_FORMAT); return 0; #endif } /* * static int8_t * //test_mission(uint8_t argc, const Menu::arg *argv) * { * //write out a basic mission to the EEPROM * * //{ * // uint8_t id; ///< command id * // uint8_t options; ///< options bitmask (1<<0 = relative altitude) * // uint8_t p1; ///< param 1 * // int32_t alt; ///< param 2 - Altitude in centimeters (meters * 100) * // int32_t lat; ///< param 3 - Lattitude * 10**7 * // int32_t lng; ///< param 4 - Longitude * 10**7 * //} * * // clear home * {Location t = {0, 0, 0, 0, 0, 0}; * set_cmd_with_index(t,0);} * * // CMD opt pitch alt/cm * {Location t = {MAV_CMD_NAV_TAKEOFF, WP_OPTION_RELATIVE, 0, 100, 0, 0}; * set_cmd_with_index(t,1);} * * if (!strcmp_P(argv[1].str, PSTR("wp"))) { * * // CMD opt * {Location t = {MAV_CMD_NAV_WAYPOINT, WP_OPTION_RELATIVE, 15, 0, 0, 0}; * set_cmd_with_index(t,2);} * // CMD opt * {Location t = {MAV_CMD_NAV_RETURN_TO_LAUNCH, WP_OPTION_YAW, 0, 0, 0, 0}; * set_cmd_with_index(t,3);} * * // CMD opt * {Location t = {MAV_CMD_NAV_LAND, 0, 0, 0, 0, 0}; * set_cmd_with_index(t,4);} * * } else { * //2250 = 25 meteres * // CMD opt p1 //alt //NS //WE * {Location t = {MAV_CMD_NAV_LOITER_TIME, 0, 10, 0, 0, 0}; // 19 * set_cmd_with_index(t,2);} * * // CMD opt dir angle/deg deg/s relative * {Location t = {MAV_CMD_CONDITION_YAW, 0, 1, 360, 60, 1}; * set_cmd_with_index(t,3);} * * // CMD opt * {Location t = {MAV_CMD_NAV_LAND, 0, 0, 0, 0, 0}; * set_cmd_with_index(t,4);} * * } * * g.RTL_altitude.set_and_save(300); * g.command_total.set_and_save(4); * g.waypoint_radius.set_and_save(3); * * test_wp(NULL, NULL); * return (0); * } */ static void print_hit_enter() { Serial.printf_P(PSTR("Hit Enter to exit.\n\n")); } static void print_test_disabled() { Serial.printf_P(PSTR("Sorry, not 1280 compat.\n")); } /* * //static void fake_out_gps() * { * static float rads; * g_gps->new_data = true; * g_gps->fix = true; * * //int length = g.rc_6.control_in; * rads += .05; * * if (rads > 6.28){ * rads = 0; * } * * g_gps->latitude = 377696000; // Y * g_gps->longitude = -1224319000; // X * g_gps->altitude = 9000; // meters * 100 * * //next_WP.lng = home.lng - length * sin(rads); // X * //next_WP.lat = home.lat + length * cos(rads); // Y * } * */ /* * //static void print_motor_out(){ * Serial.printf("out: R: %d, L: %d F: %d B: %d\n", * (motor_out[CH_1] - g.rc_3.radio_min), * (motor_out[CH_2] - g.rc_3.radio_min), * (motor_out[CH_3] - g.rc_3.radio_min), * (motor_out[CH_4] - g.rc_3.radio_min)); * } */ #endif // CLI_ENABLED