ardupilot/libraries/AP_Baro/examples/BARO_generic/BARO_generic.cpp

66 lines
1.6 KiB
C++

/*
generic Baro driver test
*/
#include <AP_Baro/AP_Baro.h>
#include <AP_BoardConfig/AP_BoardConfig.h>
#include <AP_HAL/AP_HAL.h>
const AP_HAL::HAL &hal = AP_HAL::get_HAL();
static AP_Baro barometer;
static uint32_t timer;
static uint8_t counter;
void setup();
void loop();
void setup()
{
hal.console->printf("Barometer library test\n");
AP_BoardConfig{}.init();
hal.scheduler->delay(1000);
barometer.init();
barometer.calibrate();
timer = AP_HAL::micros();
}
void loop()
{
// run accumulate() at 50Hz and update() at 10Hz
if ((AP_HAL::micros() - timer) > 20 * 1000UL) {
timer = AP_HAL::micros();
barometer.accumulate();
if (counter++ < 5) {
return;
}
counter = 0;
barometer.update();
uint32_t read_time = AP_HAL::micros() - timer;
if (!barometer.healthy()) {
hal.console->printf("not healthy\n");
return;
}
hal.console->printf(" Pressure: %.2f Pa\n"
" Temperature: %.2f degC\n"
" Relative Altitude: %.2f m\n"
" climb=%.2f m/s\n"
" Read + update time: %u usec\n"
"\n",
(double)barometer.get_pressure(),
(double)barometer.get_temperature(),
(double)barometer.get_altitude(),
(double)barometer.get_climb_rate(),
read_time);
} else {
hal.scheduler->delay(1);
}
}
AP_HAL_MAIN();