mirror of https://github.com/ArduPilot/ardupilot
164 lines
3.3 KiB
Plaintext
164 lines
3.3 KiB
Plaintext
// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: t -*-
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//
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// Simple test for the AP_AHRS interface
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//
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#include <FastSerial.h>
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#include <SPI.h>
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#include <I2C.h>
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#include <Arduino_Mega_ISR_Registry.h>
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#include <AP_PeriodicProcess.h>
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#include <AP_InertialSensor.h>
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#include <AP_ADC.h>
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#include <AP_IMU.h>
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#include <AP_GPS.h>
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#include <AP_AHRS.h>
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#include <AP_Math.h>
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#include <AP_Common.h>
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#include <AP_Compass.h>
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#include <AP_Baro.h>
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#include <DataFlash.h>
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#include <APM_RC.h>
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#include <GCS_MAVLink.h>
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#include <Filter.h>
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// uncomment this for a APM2 board
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//#define APM2_HARDWARE
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#define WITH_GPS 0
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FastSerialPort0(Serial);
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FastSerialPort1(Serial1);
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Arduino_Mega_ISR_Registry isr_registry;
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AP_TimerProcess scheduler;
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#ifdef DESKTOP_BUILD
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AP_Compass_HIL compass;
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#else
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AP_Compass_HMC5843 compass;
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#endif
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#ifdef APM2_HARDWARE
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AP_InertialSensor_MPU6000 ins( 53 );
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# else
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AP_ADC_ADS7844 adc;
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AP_InertialSensor_Oilpan ins( &adc );
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#endif
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static GPS *g_gps;
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AP_GPS_Auto g_gps_driver(&Serial1, &g_gps);
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AP_IMU_INS imu(&ins);
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// choose which AHRS system to use
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AP_AHRS_DCM ahrs(&imu, g_gps);
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//AP_AHRS_Quaternion ahrs(&imu, g_gps);
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AP_Baro_BMP085_HIL barometer;
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#ifdef APM2_HARDWARE
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# define A_LED_PIN 27
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# define C_LED_PIN 25
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# define LED_ON LOW
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# define LED_OFF HIGH
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# define MAG_ORIENTATION AP_COMPASS_APM2_SHIELD
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#else
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# define A_LED_PIN 37
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# define C_LED_PIN 35
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# define LED_ON HIGH
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# define LED_OFF LOW
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# define MAG_ORIENTATION AP_COMPASS_COMPONENTS_DOWN_PINS_FORWARD
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#endif
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static void flash_leds(bool on)
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{
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digitalWrite(A_LED_PIN, on?LED_OFF:LED_ON);
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digitalWrite(C_LED_PIN, on?LED_ON:LED_OFF);
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}
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void setup(void)
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{
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Serial.begin(115200);
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Serial.println("Starting up...");
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#ifndef DESKTOP_BUILD
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I2c.begin();
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I2c.timeOut(5);
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I2c.setSpeed(true);
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#endif
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SPI.begin();
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SPI.setClockDivider(SPI_CLOCK_DIV16);
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#ifdef APM2_HARDWARE
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// we need to stop the barometer from holding the SPI bus
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pinMode(40, OUTPUT);
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digitalWrite(40, HIGH);
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#endif
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isr_registry.init();
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scheduler.init(&isr_registry);
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imu.init(IMU::COLD_START, delay, flash_leds, &scheduler);
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imu.init_accel(delay, flash_leds);
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compass.set_orientation(MAG_ORIENTATION);
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if (compass.init()) {
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Serial.printf("Enabling compass\n");
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ahrs.set_compass(&compass);
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} else {
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Serial.printf("No compass detected\n");
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}
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g_gps = &g_gps_driver;
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#if WITH_GPS
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g_gps->init();
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#endif
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}
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void loop(void)
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{
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static uint16_t counter;
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static uint32_t last_t, last_print, last_compass;
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uint32_t now = micros();
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float heading = 0;
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if (last_t == 0) {
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last_t = now;
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return;
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}
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last_t = now;
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if (now - last_compass > 100*1000UL &&
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compass.read()) {
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heading = compass.calculate_heading(ahrs.get_dcm_matrix());
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// read compass at 10Hz
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last_compass = now;
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#if WITH_GPS
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g_gps->update();
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#endif
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}
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ahrs.update();
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counter++;
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if (now - last_print >= 0.5e6) {
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Vector3f drift = ahrs.get_gyro_drift();
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Serial.printf_P(PSTR("r:%4.1f p:%4.1f y:%4.1f drift=(%5.1f %5.1f %5.1f) hdg=%.1f rate=%.1f\n"),
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ToDeg(ahrs.roll),
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ToDeg(ahrs.pitch),
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ToDeg(ahrs.yaw),
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ToDeg(drift.x),
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ToDeg(drift.y),
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ToDeg(drift.z),
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compass.use_for_yaw()?ToDeg(heading):0.0,
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(1.0e6*counter)/(now-last_print));
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last_print = now;
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counter = 0;
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}
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}
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