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

95 lines
2.3 KiB
C++

/*
generic Baro driver test
*/
#include <AP_Common.h>
#include <AP_Progmem.h>
#include <AP_Param.h>
#include <AP_Math.h>
#include <AP_HAL.h>
#include <AP_Buffer.h>
#include <Filter.h>
#include <AP_Baro.h>
#include <AP_Notify.h>
#include <AP_GPS.h>
#include <GCS_MAVLink.h>
#include <AP_Vehicle.h>
#include <DataFlash.h>
#include <AP_InertialSensor.h>
#include <AP_Mission.h>
#include <StorageManager.h>
#include <AP_Terrain.h>
#include <AP_ADC.h>
#include <AP_ADC_AnalogSource.h>
#include <AP_AHRS.h>
#include <AP_Compass.h>
#include <AP_Declination.h>
#include <AP_Airspeed.h>
#include <AP_HAL_AVR.h>
#include <AP_HAL_SITL.h>
#include <AP_HAL_Linux.h>
#include <AP_HAL_FLYMAPLE.h>
#include <AP_HAL_PX4.h>
#include <AP_HAL_Empty.h>
#include <AP_Rally.h>
#include <AP_NavEKF.h>
#include <AP_Scheduler.h>
#include <AP_BattMonitor.h>
#include <AP_RangeFinder.h>
const AP_HAL::HAL& hal = AP_HAL_BOARD_DRIVER;
static AP_Baro barometer;
static uint32_t timer;
static uint8_t counter;
void setup()
{
hal.console->println("Barometer library test");
hal.scheduler->delay(1000);
#if CONFIG_HAL_BOARD == HAL_BOARD_APM2
// disable CS on MPU6000
hal.gpio->pinMode(63, HAL_GPIO_OUTPUT);
hal.gpio->write(63, 1);
#endif
barometer.init();
barometer.calibrate();
timer = hal.scheduler->micros();
}
void loop()
{
// run accumulate() at 50Hz and update() at 10Hz
if((hal.scheduler->micros() - timer) > 20*1000UL) {
timer = hal.scheduler->micros();
barometer.accumulate();
if (counter++ < 5) {
return;
}
counter = 0;
barometer.update();
uint32_t read_time = hal.scheduler->micros() - timer;
float alt = barometer.get_altitude();
if (!barometer.healthy()) {
hal.console->println("not healthy");
return;
}
hal.console->print("Pressure:");
hal.console->print(barometer.get_pressure());
hal.console->print(" Temperature:");
hal.console->print(barometer.get_temperature());
hal.console->print(" Altitude:");
hal.console->print(alt);
hal.console->printf(" climb=%.2f t=%u",
barometer.get_climb_rate(),
(unsigned)read_time);
hal.console->println();
}
}
AP_HAL_MAIN();