mirror of https://github.com/ArduPilot/ardupilot
455 lines
13 KiB
Plaintext
455 lines
13 KiB
Plaintext
// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
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#if CLI_ENABLED == ENABLED
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// These are function definitions so the Menu can be constructed before the functions
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// are defined below. Order matters to the compiler.
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#if HIL_MODE == HIL_MODE_DISABLED
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static int8_t test_baro(uint8_t argc, const Menu::arg *argv);
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#endif
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static int8_t test_compass(uint8_t argc, const Menu::arg *argv);
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static int8_t test_ins(uint8_t argc, const Menu::arg *argv);
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static int8_t test_motors(uint8_t argc, const Menu::arg *argv);
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static int8_t test_motorsync(uint8_t argc, const Menu::arg *argv);
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static int8_t test_optflow(uint8_t argc, const Menu::arg *argv);
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static int8_t test_relay(uint8_t argc, const Menu::arg *argv);
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#if CONFIG_HAL_BOARD == HAL_BOARD_PX4
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static int8_t test_shell(uint8_t argc, const Menu::arg *argv);
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#endif
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#if HIL_MODE == HIL_MODE_DISABLED
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static int8_t test_sonar(uint8_t argc, const Menu::arg *argv);
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#endif
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// Creates a constant array of structs representing menu options
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// and stores them in Flash memory, not RAM.
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// User enters the string in the console to call the functions on the right.
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// See class Menu in AP_Coommon for implementation details
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const struct Menu::command test_menu_commands[] PROGMEM = {
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#if HIL_MODE == HIL_MODE_DISABLED
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{"baro", test_baro},
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#endif
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{"compass", test_compass},
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{"ins", test_ins},
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{"motors", test_motors},
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{"motorsync", test_motorsync},
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{"optflow", test_optflow},
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{"relay", test_relay},
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#if CONFIG_HAL_BOARD == HAL_BOARD_PX4
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{"shell", test_shell},
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#endif
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#if HIL_MODE == HIL_MODE_DISABLED
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{"sonar", test_sonar},
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#endif
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};
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// A Macro to create the Menu
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MENU(test_menu, "test", test_menu_commands);
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static int8_t
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test_mode(uint8_t argc, const Menu::arg *argv)
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{
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test_menu.run();
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return 0;
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}
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#if HIL_MODE == HIL_MODE_DISABLED
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static int8_t
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test_baro(uint8_t argc, const Menu::arg *argv)
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{
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int32_t alt;
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print_hit_enter();
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init_barometer(true);
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while(1) {
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delay(100);
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alt = read_barometer();
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if (!barometer.healthy) {
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cliSerial->println_P(PSTR("not healthy"));
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} else {
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cliSerial->printf_P(PSTR("Alt: %0.2fm, Raw: %f Temperature: %.1f\n"),
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alt / 100.0,
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barometer.get_pressure(),
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barometer.get_temperature());
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}
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if(cliSerial->available() > 0) {
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return (0);
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}
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}
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return 0;
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}
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#endif
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static int8_t
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test_compass(uint8_t argc, const Menu::arg *argv)
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{
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uint8_t delta_ms_fast_loop;
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uint8_t medium_loopCounter = 0;
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if (!g.compass_enabled) {
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cliSerial->printf_P(PSTR("Compass: "));
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print_enabled(false);
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return (0);
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}
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if (!compass.init()) {
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cliSerial->println_P(PSTR("Compass initialisation failed!"));
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return 0;
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}
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ahrs.init();
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ahrs.set_fly_forward(true);
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ahrs.set_compass(&compass);
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report_compass();
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// we need the AHRS initialised for this test
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ins.init(AP_InertialSensor::COLD_START,
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ins_sample_rate);
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ahrs.reset();
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int16_t counter = 0;
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float heading = 0;
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print_hit_enter();
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while(1) {
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delay(20);
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if (millis() - fast_loopTimer > 19) {
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delta_ms_fast_loop = millis() - fast_loopTimer;
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G_Dt = (float)delta_ms_fast_loop / 1000.f; // used by DCM integrator
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fast_loopTimer = millis();
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// INS
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// ---
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ahrs.update();
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medium_loopCounter++;
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if(medium_loopCounter == 5) {
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if (compass.read()) {
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// Calculate heading
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const Matrix3f &m = ahrs.get_dcm_matrix();
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heading = compass.calculate_heading(m);
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compass.learn_offsets();
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}
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medium_loopCounter = 0;
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}
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counter++;
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if (counter>20) {
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if (compass.healthy()) {
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const Vector3f &mag_ofs = compass.get_offsets();
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const Vector3f &mag = compass.get_field();
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cliSerial->printf_P(PSTR("Heading: %ld, XYZ: %.0f, %.0f, %.0f,\tXYZoff: %6.2f, %6.2f, %6.2f\n"),
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(wrap_360_cd(ToDeg(heading) * 100)) /100,
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mag.x,
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mag.y,
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mag.z,
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mag_ofs.x,
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mag_ofs.y,
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mag_ofs.z);
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} else {
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cliSerial->println_P(PSTR("compass not healthy"));
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}
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counter=0;
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}
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}
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if (cliSerial->available() > 0) {
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break;
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}
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}
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// save offsets. This allows you to get sane offset values using
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// the CLI before you go flying.
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cliSerial->println_P(PSTR("saving offsets"));
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compass.save_offsets();
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return (0);
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}
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static int8_t
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test_ins(uint8_t argc, const Menu::arg *argv)
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{
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Vector3f gyro, accel;
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print_hit_enter();
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cliSerial->printf_P(PSTR("INS\n"));
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delay(1000);
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ahrs.init();
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ins.init(AP_InertialSensor::COLD_START,
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ins_sample_rate);
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cliSerial->printf_P(PSTR("...done\n"));
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delay(50);
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while(1) {
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ins.update();
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gyro = ins.get_gyro();
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accel = ins.get_accel();
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float test = accel.length() / GRAVITY_MSS;
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cliSerial->printf_P(PSTR("a %7.4f %7.4f %7.4f g %7.4f %7.4f %7.4f t %7.4f \n"),
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accel.x, accel.y, accel.z,
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gyro.x, gyro.y, gyro.z,
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test);
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delay(40);
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if(cliSerial->available() > 0) {
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return (0);
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}
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}
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}
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static int8_t
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test_motors(uint8_t argc, const Menu::arg *argv)
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{
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cliSerial->printf_P(PSTR(
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"Connect battery for this test.\n"
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"Motors will spin by frame position order.\n"
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"Front (& right of centerline) motor first, then in clockwise order around frame.\n"
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"Remember to disconnect battery after this test.\n"
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"Any key to exit.\n"));
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// ensure all values have been sent to motors
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motors.set_update_rate(g.rc_speed);
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motors.set_frame_orientation(g.frame_orientation);
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motors.set_min_throttle(g.throttle_min);
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motors.set_mid_throttle(g.throttle_mid);
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// enable motors
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init_rc_out();
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while(1) {
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delay(20);
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read_radio();
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motors.output_test();
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if(cliSerial->available() > 0) {
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g.esc_calibrate.set_and_save(0);
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return(0);
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}
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}
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}
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// test_motorsync - suddenly increases pwm output to motors to test if ESC loses sync
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static int8_t
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test_motorsync(uint8_t argc, const Menu::arg *argv)
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{
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bool test_complete = false;
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bool spin_motors = false;
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uint32_t spin_start_time = 0;
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uint32_t last_run_time;
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int16_t last_throttle = 0;
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int16_t c;
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// check if radio is calibration
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pre_arm_rc_checks();
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if (!ap.pre_arm_rc_check) {
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cliSerial->print_P(PSTR("radio not calibrated\n"));
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return 0;
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}
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// print warning that motors will spin
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// ask user to raise throttle
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// inform how to stop test
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cliSerial->print_P(PSTR("This sends sudden outputs to the motors based on the pilot's throttle to test for ESC loss of sync. Motors will spin so mount props up-side-down!\n Hold throttle low, then raise throttle stick to desired level and press A. Motors will spin for 2 sec and then return to low.\nPress any key to exit.\n"));
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// clear out user input
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while (cliSerial->available()) {
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cliSerial->read();
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}
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// disable throttle and battery failsafe
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g.failsafe_throttle = FS_THR_DISABLED;
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g.failsafe_battery_enabled = FS_BATT_DISABLED;
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// read radio
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read_radio();
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// exit immediately if throttle is not zero
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if( g.rc_3.control_in != 0 ) {
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cliSerial->print_P(PSTR("throttle not zero\n"));
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return 0;
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}
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// clear out any user input
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while (cliSerial->available()) {
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cliSerial->read();
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}
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// enable motors and pass through throttle
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init_rc_out();
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output_min();
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motors.armed(true);
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// initialise run time
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last_run_time = millis();
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// main run while the test is not complete
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while(!test_complete) {
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// 50hz loop
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if( millis() - last_run_time > 20 ) {
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last_run_time = millis();
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// read radio input
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read_radio();
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// display throttle value
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if (abs(g.rc_3.control_in-last_throttle) > 10) {
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cliSerial->printf_P(PSTR("\nThr:%d"),g.rc_3.control_in);
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last_throttle = g.rc_3.control_in;
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}
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// decode user input
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if (cliSerial->available()) {
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c = cliSerial->read();
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if (c == 'a' || c == 'A') {
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spin_motors = true;
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spin_start_time = millis();
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// display user's throttle level
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cliSerial->printf_P(PSTR("\nSpin motors at:%d"),(int)g.rc_3.control_in);
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// clear out any other use input queued up
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while (cliSerial->available()) {
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cliSerial->read();
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}
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}else{
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// any other input ends the test
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test_complete = true;
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motors.armed(false);
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}
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}
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// check if time to stop motors
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if (spin_motors) {
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if ((millis() - spin_start_time) > 2000) {
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spin_motors = false;
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cliSerial->printf_P(PSTR("\nMotors stopped"));
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}
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}
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// output to motors
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if (spin_motors) {
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// pass pilot throttle through to motors
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motors.throttle_pass_through();
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}else{
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// spin motors at minimum
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output_min();
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}
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}
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}
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// stop motors
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motors.output_min();
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motors.armed(false);
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// clear out any user input
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while( cliSerial->available() ) {
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cliSerial->read();
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}
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// display completion message
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cliSerial->printf_P(PSTR("\nTest complete\n"));
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return 0;
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}
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static int8_t
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test_optflow(uint8_t argc, const Menu::arg *argv)
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{
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#if OPTFLOW == ENABLED
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if(g.optflow_enabled) {
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cliSerial->printf_P(PSTR("man id: %d\t"),optflow.read_register(ADNS3080_PRODUCT_ID));
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print_hit_enter();
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while(1) {
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delay(200);
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optflow.update();
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cliSerial->printf_P(PSTR("dx:%d\t dy:%d\t squal:%d\n"),
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optflow.dx,
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optflow.dy,
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optflow.surface_quality);
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if(cliSerial->available() > 0) {
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return (0);
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}
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}
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} else {
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cliSerial->printf_P(PSTR("OptFlow: "));
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print_enabled(false);
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}
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return (0);
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#else
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return (0);
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#endif // OPTFLOW == ENABLED
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}
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static int8_t test_relay(uint8_t argc, const Menu::arg *argv)
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{
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print_hit_enter();
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delay(1000);
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while(1) {
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cliSerial->printf_P(PSTR("Relay on\n"));
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relay.on(0);
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delay(3000);
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if(cliSerial->available() > 0) {
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return (0);
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}
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cliSerial->printf_P(PSTR("Relay off\n"));
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relay.off(0);
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delay(3000);
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if(cliSerial->available() > 0) {
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return (0);
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}
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}
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}
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#if CONFIG_HAL_BOARD == HAL_BOARD_PX4
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/*
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* run a debug shell
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*/
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static int8_t
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test_shell(uint8_t argc, const Menu::arg *argv)
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{
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hal.util->run_debug_shell(cliSerial);
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return 0;
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}
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#endif
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#if HIL_MODE == HIL_MODE_DISABLED
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/*
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* test the sonar
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*/
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static int8_t
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test_sonar(uint8_t argc, const Menu::arg *argv)
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{
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#if CONFIG_SONAR == ENABLED
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if(g.sonar_enabled == false) {
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cliSerial->printf_P(PSTR("Sonar disabled\n"));
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return (0);
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}
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// make sure sonar is initialised
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init_sonar();
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print_hit_enter();
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while(1) {
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delay(100);
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cliSerial->printf_P(PSTR("Sonar: %d cm\n"), sonar->read());
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if(cliSerial->available() > 0) {
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return (0);
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}
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}
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#endif
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return (0);
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}
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#endif
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static void print_hit_enter()
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{
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cliSerial->printf_P(PSTR("Hit Enter to exit.\n\n"));
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}
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#endif // CLI_ENABLED
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