mirror of https://github.com/ArduPilot/ardupilot
599 lines
17 KiB
Plaintext
599 lines
17 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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static int8_t test_radio_pwm(uint8_t argc, const Menu::arg *argv);
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static int8_t test_radio(uint8_t argc, const Menu::arg *argv);
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static int8_t test_passthru(uint8_t argc, const Menu::arg *argv);
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static int8_t test_failsafe(uint8_t argc, const Menu::arg *argv);
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static int8_t test_gps(uint8_t argc, const Menu::arg *argv);
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#if CONFIG_HAL_BOARD == HAL_BOARD_APM1
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static int8_t test_adc(uint8_t argc, const Menu::arg *argv);
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#endif
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static int8_t test_ins(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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static int8_t test_wp(uint8_t argc, const Menu::arg *argv);
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static int8_t test_airspeed(uint8_t argc, const Menu::arg *argv);
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static int8_t test_pressure(uint8_t argc, const Menu::arg *argv);
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static int8_t test_mag(uint8_t argc, const Menu::arg *argv);
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static int8_t test_xbee(uint8_t argc, const Menu::arg *argv);
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static int8_t test_modeswitch(uint8_t argc, const Menu::arg *argv);
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static int8_t test_logging(uint8_t argc, const Menu::arg *argv);
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#if CONFIG_HAL_BOARD == HAL_BOARD_PX4 || CONFIG_HAL_BOARD == HAL_BOARD_VRBRAIN
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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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// forward declaration to keep the compiler happy
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static void test_wp_print(const AP_Mission::Mission_Command& cmd);
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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_Common for implementation details
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static const struct Menu::command test_menu_commands[] PROGMEM = {
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{"pwm", test_radio_pwm},
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{"radio", test_radio},
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{"passthru", test_passthru},
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{"failsafe", test_failsafe},
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{"relay", test_relay},
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{"waypoints", test_wp},
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{"xbee", test_xbee},
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{"modeswitch", test_modeswitch},
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// Tests below here are for hardware sensors only present
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// when real sensors are attached or they are emulated
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#if HIL_MODE == HIL_MODE_DISABLED
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#if CONFIG_HAL_BOARD == HAL_BOARD_APM1
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{"adc", test_adc},
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#endif
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{"gps", test_gps},
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{"ins", test_ins},
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{"airspeed", test_airspeed},
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{"airpressure", test_pressure},
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{"compass", test_mag},
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#else
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{"gps", test_gps},
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{"ins", test_ins},
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{"compass", test_mag},
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#endif
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{"logging", test_logging},
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#if CONFIG_HAL_BOARD == HAL_BOARD_PX4 || CONFIG_HAL_BOARD == HAL_BOARD_VRBRAIN
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{"shell", test_shell},
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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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cliSerial->printf_P(PSTR("Test Mode\n\n"));
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test_menu.run();
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return 0;
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}
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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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static int8_t
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test_radio_pwm(uint8_t argc, const Menu::arg *argv)
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{
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print_hit_enter();
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hal.scheduler->delay(1000);
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while(1) {
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hal.scheduler->delay(20);
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// Filters radio input - adjust filters in the radio.pde file
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// ----------------------------------------------------------
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read_radio();
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cliSerial->printf_P(PSTR("IN:\t1: %d\t2: %d\t3: %d\t4: %d\t5: %d\t6: %d\t7: %d\t8: %d\n"),
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(int)channel_roll->radio_in,
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(int)channel_pitch->radio_in,
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(int)channel_throttle->radio_in,
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(int)channel_rudder->radio_in,
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(int)g.rc_5.radio_in,
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(int)g.rc_6.radio_in,
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(int)g.rc_7.radio_in,
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(int)g.rc_8.radio_in);
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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_passthru(uint8_t argc, const Menu::arg *argv)
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{
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print_hit_enter();
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hal.scheduler->delay(1000);
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while(1) {
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hal.scheduler->delay(20);
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// New radio frame? (we could use also if((millis()- timer) > 20)
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if (hal.rcin->new_input()) {
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cliSerial->print_P(PSTR("CH:"));
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for(int16_t i = 0; i < 8; i++) {
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cliSerial->print(hal.rcin->read(i)); // Print channel values
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print_comma();
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servo_write(i, hal.rcin->read(i)); // Copy input to Servos
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}
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cliSerial->println();
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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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static int8_t
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test_radio(uint8_t argc, const Menu::arg *argv)
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{
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print_hit_enter();
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hal.scheduler->delay(1000);
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// read the radio to set trims
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// ---------------------------
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trim_radio();
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while(1) {
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hal.scheduler->delay(20);
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read_radio();
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channel_roll->calc_pwm();
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channel_pitch->calc_pwm();
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channel_throttle->calc_pwm();
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channel_rudder->calc_pwm();
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// write out the servo PWM values
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// ------------------------------
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set_servos();
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cliSerial->printf_P(PSTR("IN 1: %d\t2: %d\t3: %d\t4: %d\t5: %d\t6: %d\t7: %d\t8: %d\n"),
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(int)channel_roll->control_in,
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(int)channel_pitch->control_in,
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(int)channel_throttle->control_in,
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(int)channel_rudder->control_in,
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(int)g.rc_5.control_in,
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(int)g.rc_6.control_in,
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(int)g.rc_7.control_in,
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(int)g.rc_8.control_in);
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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_failsafe(uint8_t argc, const Menu::arg *argv)
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{
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uint8_t fail_test;
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print_hit_enter();
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for(int16_t i = 0; i < 50; i++) {
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hal.scheduler->delay(20);
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read_radio();
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}
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// read the radio to set trims
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// ---------------------------
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trim_radio();
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oldSwitchPosition = readSwitch();
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cliSerial->printf_P(PSTR("Unplug battery, throttle in neutral, turn off radio.\n"));
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while(channel_throttle->control_in > 0) {
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hal.scheduler->delay(20);
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read_radio();
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}
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while(1) {
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hal.scheduler->delay(20);
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read_radio();
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if(channel_throttle->control_in > 0) {
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cliSerial->printf_P(PSTR("THROTTLE CHANGED %d \n"), (int)channel_throttle->control_in);
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fail_test++;
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}
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if(oldSwitchPosition != readSwitch()) {
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cliSerial->printf_P(PSTR("CONTROL MODE CHANGED: "));
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print_flight_mode(cliSerial, readSwitch());
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cliSerial->println();
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fail_test++;
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}
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if(g.throttle_fs_enabled && channel_throttle->get_failsafe()) {
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cliSerial->printf_P(PSTR("THROTTLE FAILSAFE ACTIVATED: %d, "), (int)channel_throttle->radio_in);
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print_flight_mode(cliSerial, readSwitch());
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cliSerial->println();
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fail_test++;
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}
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if(fail_test > 0) {
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return (0);
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}
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if(cliSerial->available() > 0) {
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cliSerial->printf_P(PSTR("LOS caused no change in APM.\n"));
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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_relay(uint8_t argc, const Menu::arg *argv)
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{
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print_hit_enter();
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hal.scheduler->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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hal.scheduler->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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hal.scheduler->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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static int8_t
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test_wp(uint8_t argc, const Menu::arg *argv)
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{
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hal.scheduler->delay(1000);
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// save the alitude above home option
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if (g.RTL_altitude_cm < 0) {
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cliSerial->printf_P(PSTR("Hold current altitude\n"));
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}else{
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cliSerial->printf_P(PSTR("Hold altitude of %dm\n"), (int)g.RTL_altitude_cm/100);
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}
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cliSerial->printf_P(PSTR("%d waypoints\n"), (int)mission.num_commands());
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cliSerial->printf_P(PSTR("Hit radius: %d\n"), (int)g.waypoint_radius);
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cliSerial->printf_P(PSTR("Loiter radius: %d\n\n"), (int)g.loiter_radius);
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for(uint8_t i = 0; i <= mission.num_commands(); i++) {
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AP_Mission::Mission_Command temp_cmd;
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if (mission.read_cmd_from_storage(i,temp_cmd)) {
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test_wp_print(temp_cmd);
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}
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}
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return (0);
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}
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static void
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test_wp_print(const AP_Mission::Mission_Command& cmd)
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{
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cliSerial->printf_P(PSTR("command #: %d id:%d options:%d p1:%d p2:%ld p3:%ld p4:%ld \n"),
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(int)cmd.index,
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(int)cmd.id,
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(int)cmd.content.location.options,
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(int)cmd.p1,
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(long)cmd.content.location.alt,
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(long)cmd.content.location.lat,
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(long)cmd.content.location.lng);
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}
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static int8_t
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test_xbee(uint8_t argc, const Menu::arg *argv)
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{
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print_hit_enter();
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hal.scheduler->delay(1000);
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cliSerial->printf_P(PSTR("Begin XBee X-CTU Range and RSSI Test:\n"));
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while(1) {
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if (hal.uartC->available())
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hal.uartC->write(hal.uartC->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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}
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static int8_t
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test_modeswitch(uint8_t argc, const Menu::arg *argv)
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{
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print_hit_enter();
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hal.scheduler->delay(1000);
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cliSerial->printf_P(PSTR("Control CH "));
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cliSerial->println(FLIGHT_MODE_CHANNEL, BASE_DEC);
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while(1) {
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hal.scheduler->delay(20);
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uint8_t switchPosition = readSwitch();
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if (oldSwitchPosition != switchPosition) {
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cliSerial->printf_P(PSTR("Position %d\n"), (int)switchPosition);
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oldSwitchPosition = switchPosition;
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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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}
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/*
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* test the dataflash is working
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*/
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static int8_t
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test_logging(uint8_t argc, const Menu::arg *argv)
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{
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DataFlash.ShowDeviceInfo(cliSerial);
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return 0;
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}
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#if CONFIG_HAL_BOARD == HAL_BOARD_PX4 || CONFIG_HAL_BOARD == HAL_BOARD_VRBRAIN
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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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//-------------------------------------------------------------------------------------------
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// tests in this section are for real sensors or sensors that have been simulated
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#if CONFIG_HAL_BOARD == HAL_BOARD_APM1
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static int8_t
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test_adc(uint8_t argc, const Menu::arg *argv)
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{
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print_hit_enter();
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apm1_adc.Init();
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hal.scheduler->delay(1000);
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cliSerial->printf_P(PSTR("ADC\n"));
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hal.scheduler->delay(1000);
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while(1) {
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for (int8_t i=0; i<9; i++) cliSerial->printf_P(PSTR("%.1f\t"),apm1_adc.Ch(i));
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cliSerial->println();
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hal.scheduler->delay(100);
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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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#endif
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static int8_t
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test_gps(uint8_t argc, const Menu::arg *argv)
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{
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print_hit_enter();
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hal.scheduler->delay(1000);
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uint32_t last_message_time_ms = 0;
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while(1) {
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hal.scheduler->delay(100);
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gps.update();
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if (gps.last_message_time_ms() != last_message_time_ms) {
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last_message_time_ms = gps.last_message_time_ms();
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const Location &loc = gps.location();
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cliSerial->printf_P(PSTR("Lat: %ld, Lon %ld, Alt: %ldm, #sats: %d\n"),
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(long)loc.lat,
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(long)loc.lng,
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(long)loc.alt/100,
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(int)gps.num_sats());
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} else {
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cliSerial->printf_P(PSTR("."));
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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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}
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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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//cliSerial->printf_P(PSTR("Calibrating."));
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ahrs.init();
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ahrs.set_fly_forward(true);
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ahrs.set_wind_estimation(true);
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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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print_hit_enter();
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hal.scheduler->delay(1000);
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uint8_t counter = 0;
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while(1) {
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hal.scheduler->delay(20);
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if (hal.scheduler->micros() - fast_loopTimer_us > 19000UL) {
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fast_loopTimer_us = hal.scheduler->micros();
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// INS
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// ---
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ahrs.update();
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if(g.compass_enabled) {
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counter++;
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if(counter == 5) {
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compass.read();
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counter = 0;
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}
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}
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// We are using the INS
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// ---------------------
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Vector3f gyros = ins.get_gyro();
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Vector3f accels = ins.get_accel();
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cliSerial->printf_P(PSTR("r:%4d p:%4d y:%3d g=(%5.1f %5.1f %5.1f) a=(%5.1f %5.1f %5.1f)\n"),
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(int)ahrs.roll_sensor / 100,
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(int)ahrs.pitch_sensor / 100,
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(uint16_t)ahrs.yaw_sensor / 100,
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gyros.x, gyros.y, gyros.z,
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accels.x, accels.y, accels.z);
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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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}
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static int8_t
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test_mag(uint8_t argc, const Menu::arg *argv)
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{
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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_wind_estimation(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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uint16_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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hal.scheduler->delay(20);
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if (hal.scheduler->micros() - fast_loopTimer_us > 19000UL) {
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fast_loopTimer_us = hal.scheduler->micros();
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// INS
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// ---
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ahrs.update();
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if(counter % 5 == 0) {
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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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}
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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();
|
|
cliSerial->printf_P(PSTR("Heading: %ld, XYZ: %.0f, %.0f, %.0f,\tXYZoff: %6.2f, %6.2f, %6.2f\n"),
|
|
(wrap_360_cd(ToDeg(heading) * 100)) /100,
|
|
mag.x, mag.y, mag.z,
|
|
mag_ofs.x, mag_ofs.y, mag_ofs.z);
|
|
} else {
|
|
cliSerial->println_P(PSTR("compass not healthy"));
|
|
}
|
|
counter=0;
|
|
}
|
|
}
|
|
if (cliSerial->available() > 0) {
|
|
break;
|
|
}
|
|
}
|
|
|
|
// save offsets. This allows you to get sane offset values using
|
|
// the CLI before you go flying.
|
|
cliSerial->println_P(PSTR("saving offsets"));
|
|
compass.save_offsets();
|
|
return (0);
|
|
}
|
|
|
|
//-------------------------------------------------------------------------------------------
|
|
// real sensors that have not been simulated yet go here
|
|
|
|
#if HIL_MODE == HIL_MODE_DISABLED
|
|
|
|
static int8_t
|
|
test_airspeed(uint8_t argc, const Menu::arg *argv)
|
|
{
|
|
if (!airspeed.enabled()) {
|
|
cliSerial->printf_P(PSTR("airspeed: "));
|
|
print_enabled(false);
|
|
return (0);
|
|
}else{
|
|
print_hit_enter();
|
|
zero_airspeed();
|
|
cliSerial->printf_P(PSTR("airspeed: "));
|
|
print_enabled(true);
|
|
|
|
while(1) {
|
|
hal.scheduler->delay(20);
|
|
read_airspeed();
|
|
cliSerial->printf_P(PSTR("%.1f m/s\n"), airspeed.get_airspeed());
|
|
|
|
if(cliSerial->available() > 0) {
|
|
return (0);
|
|
}
|
|
}
|
|
}
|
|
}
|
|
|
|
|
|
static int8_t
|
|
test_pressure(uint8_t argc, const Menu::arg *argv)
|
|
{
|
|
cliSerial->printf_P(PSTR("Uncalibrated relative airpressure\n"));
|
|
print_hit_enter();
|
|
|
|
init_barometer();
|
|
|
|
while(1) {
|
|
hal.scheduler->delay(100);
|
|
|
|
if (!barometer.healthy()) {
|
|
cliSerial->println_P(PSTR("not healthy"));
|
|
} else {
|
|
cliSerial->printf_P(PSTR("Alt: %0.2fm, Raw: %f Temperature: %.1f\n"),
|
|
barometer.get_altitude(),
|
|
barometer.get_pressure(),
|
|
barometer.get_temperature());
|
|
}
|
|
|
|
if(cliSerial->available() > 0) {
|
|
return (0);
|
|
}
|
|
}
|
|
}
|
|
|
|
#endif // HIL_MODE == HIL_MODE_DISABLED
|
|
|
|
#endif // CLI_ENABLED
|