mirror of https://github.com/ArduPilot/ardupilot
706 lines
17 KiB
Plaintext
706 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_ADC == ENABLED
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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_imu(uint8_t argc, const Menu::arg *argv);
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static int8_t test_battery(uint8_t argc, const Menu::arg *argv);
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static int8_t test_current(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_eedump(uint8_t argc, const Menu::arg *argv);
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static int8_t test_rawgps(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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#if CONFIG_APM_HARDWARE != APM_HARDWARE_APM2
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static int8_t test_dipswitches(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_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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{"battery", test_battery},
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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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{"eedump", test_eedump},
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{"modeswitch", test_modeswitch},
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#if CONFIG_APM_HARDWARE != APM_HARDWARE_APM2
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{"dipswitches", test_dipswitches},
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#endif
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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_ADC == ENABLED
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{"adc", test_adc},
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#endif
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{"gps", test_gps},
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{"rawgps", test_rawgps},
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{"imu", test_imu},
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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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{"current", test_current},
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#elif HIL_MODE == HIL_MODE_SENSORS
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{"adc", test_adc},
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{"gps", test_gps},
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{"imu", test_imu},
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{"compass", test_mag},
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#elif HIL_MODE == HIL_MODE_ATTITUDE
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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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Serial.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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Serial.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_eedump(uint8_t argc, const Menu::arg *argv)
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{
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int i, j;
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// hexdump the EEPROM
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for (i = 0; i < EEPROM_MAX_ADDR; i += 16) {
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Serial.printf_P(PSTR("%04x:"), i);
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for (j = 0; j < 16; j++)
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Serial.printf_P(PSTR(" %02x"), eeprom_read_byte((const uint8_t *)(i + j)));
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Serial.println();
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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_pwm(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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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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Serial.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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g.channel_roll.radio_in,
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g.channel_pitch.radio_in,
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g.channel_throttle.radio_in,
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g.channel_rudder.radio_in,
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g.rc_5.radio_in,
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g.rc_6.radio_in,
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g.rc_7.radio_in,
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g.rc_8.radio_in);
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if(Serial.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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delay(1000);
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while(1){
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delay(20);
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// New radio frame? (we could use also if((millis()- timer) > 20)
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if (APM_RC.GetState() == 1){
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Serial.print("CH:");
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for(int i = 0; i < 8; i++){
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Serial.print(APM_RC.InputCh(i)); // Print channel values
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Serial.print(",");
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APM_RC.OutputCh(i, APM_RC.InputCh(i)); // Copy input to Servos
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}
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Serial.println();
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}
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if (Serial.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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delay(1000);
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#if THROTTLE_REVERSE == 1
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Serial.printf_P(PSTR("Throttle is reversed in config: \n"));
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delay(1000);
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#endif
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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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delay(20);
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read_radio();
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update_servo_switches();
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g.channel_roll.calc_pwm();
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g.channel_pitch.calc_pwm();
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g.channel_throttle.calc_pwm();
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g.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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Serial.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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g.channel_roll.control_in,
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g.channel_pitch.control_in,
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g.channel_throttle.control_in,
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g.channel_rudder.control_in,
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g.rc_5.control_in,
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g.rc_6.control_in,
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g.rc_7.control_in,
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g.rc_8.control_in);
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if(Serial.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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byte fail_test;
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print_hit_enter();
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for(int i = 0; i < 50; i++){
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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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Serial.printf_P(PSTR("Unplug battery, throttle in neutral, turn off radio.\n"));
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while(g.channel_throttle.control_in > 0){
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delay(20);
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read_radio();
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}
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while(1){
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delay(20);
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read_radio();
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if(g.channel_throttle.control_in > 0){
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Serial.printf_P(PSTR("THROTTLE CHANGED %d \n"), g.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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Serial.printf_P(PSTR("CONTROL MODE CHANGED: "));
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Serial.println(flight_mode_strings[readSwitch()]);
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fail_test++;
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}
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if(g.throttle_fs_enabled && g.channel_throttle.get_failsafe()){
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Serial.printf_P(PSTR("THROTTLE FAILSAFE ACTIVATED: %d, "), g.channel_throttle.radio_in);
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Serial.println(flight_mode_strings[readSwitch()]);
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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(Serial.available() > 0){
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Serial.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_battery(uint8_t argc, const Menu::arg *argv)
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{
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if (g.battery_monitoring >=1 && g.battery_monitoring < 4) {
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for (int i = 0; i < 80; i++){ // Need to get many samples for filter to stabilize
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delay(20);
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read_battery();
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}
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Serial.printf_P(PSTR("Volts: 1:%2.2f, 2:%2.2f, 3:%2.2f, 4:%2.2f\n"),
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battery_voltage1,
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battery_voltage2,
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battery_voltage3,
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battery_voltage4);
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} else {
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Serial.printf_P(PSTR("Not enabled\n"));
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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_current(uint8_t argc, const Menu::arg *argv)
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{
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if (g.battery_monitoring == 4) {
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print_hit_enter();
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delta_ms_medium_loop = 100;
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while(1){
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delay(100);
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read_radio();
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read_battery();
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Serial.printf_P(PSTR("V: %4.4f, A: %4.4f, mAh: %4.4f\n"),
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battery_voltage,
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current_amps,
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current_total);
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// write out the servo PWM values
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// ------------------------------
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set_servos();
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if(Serial.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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Serial.printf_P(PSTR("Not enabled\n"));
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return (0);
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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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delay(1000);
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while(1){
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Serial.printf_P(PSTR("Relay on\n"));
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relay.on();
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delay(3000);
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if(Serial.available() > 0){
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return (0);
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}
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Serial.printf_P(PSTR("Relay off\n"));
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relay.off();
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delay(3000);
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if(Serial.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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delay(1000);
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// save the alitude above home option
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if(g.RTL_altitude < 0){
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Serial.printf_P(PSTR("Hold current altitude\n"));
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}else{
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Serial.printf_P(PSTR("Hold altitude of %dm\n"), (int)g.RTL_altitude/100);
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}
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Serial.printf_P(PSTR("%d waypoints\n"), (int)g.command_total);
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Serial.printf_P(PSTR("Hit radius: %d\n"), (int)g.waypoint_radius);
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Serial.printf_P(PSTR("Loiter radius: %d\n\n"), (int)g.loiter_radius);
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for(byte i = 0; i <= g.command_total; i++){
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struct Location temp = get_cmd_with_index(i);
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test_wp_print(&temp, i);
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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(struct Location *cmd, byte wp_index)
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{
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Serial.printf_P(PSTR("command #: %d id:%d options:%d p1:%d p2:%ld p3:%ld p4:%ld \n"),
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(int)wp_index,
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(int)cmd->id,
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(int)cmd->options,
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(int)cmd->p1,
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cmd->alt,
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cmd->lat,
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cmd->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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delay(1000);
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Serial.printf_P(PSTR("Begin XBee X-CTU Range and RSSI Test:\n"));
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while(1){
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if (Serial3.available())
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Serial3.write(Serial3.read());
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if(Serial.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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delay(1000);
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Serial.printf_P(PSTR("Control CH "));
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Serial.println(FLIGHT_MODE_CHANNEL, DEC);
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while(1){
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delay(20);
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byte switchPosition = readSwitch();
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if (oldSwitchPosition != switchPosition){
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Serial.printf_P(PSTR("Position %d\n"), switchPosition);
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oldSwitchPosition = switchPosition;
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}
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if(Serial.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_APM_HARDWARE != APM_HARDWARE_APM2
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static int8_t
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test_dipswitches(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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if (!g.switch_enable) {
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Serial.println_P(PSTR("dip switches disabled, using EEPROM"));
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}
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while(1){
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delay(100);
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update_servo_switches();
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if (g.mix_mode == 0) {
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Serial.printf_P(PSTR("Mix:standard \trev roll:%d, rev pitch:%d, rev rudder:%d\n"),
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(int)g.channel_roll.get_reverse(),
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(int)g.channel_pitch.get_reverse(),
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(int)g.channel_rudder.get_reverse());
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} else {
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Serial.printf_P(PSTR("Mix:elevons \trev elev:%d, rev ch1:%d, rev ch2:%d\n"),
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(int)g.reverse_elevons,
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(int)g.reverse_ch1_elevon,
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(int)g.reverse_ch2_elevon);
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}
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if(Serial.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 // CONFIG_APM_HARDWARE != APM_HARDWARE_APM2
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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 HIL_MODE == HIL_MODE_DISABLED || HIL_MODE == HIL_MODE_SENSORS
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#if CONFIG_ADC == ENABLED
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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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adc.Init(&timer_scheduler);
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delay(1000);
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Serial.printf_P(PSTR("ADC\n"));
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delay(1000);
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while(1){
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for (int i=0;i<9;i++) Serial.printf_P(PSTR("%.1f\t"),adc.Ch(i));
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Serial.println();
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delay(100);
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if(Serial.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 // CONFIG_ADC
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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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delay(1000);
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while(1){
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delay(333);
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// Blink GPS LED if we don't have a fix
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// ------------------------------------
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update_GPS_light();
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g_gps->update();
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if (g_gps->new_data){
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Serial.printf_P(PSTR("Lat: %ld, Lon %ld, Alt: %ldm, #sats: %d\n"),
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g_gps->latitude,
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g_gps->longitude,
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g_gps->altitude/100,
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g_gps->num_sats);
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}else{
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Serial.printf_P(PSTR("."));
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}
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if(Serial.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_imu(uint8_t argc, const Menu::arg *argv)
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{
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//Serial.printf_P(PSTR("Calibrating."));
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imu.init(IMU::COLD_START, delay, flash_leds, &timer_scheduler);
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dcm.matrix_reset();
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print_hit_enter();
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delay(1000);
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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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// IMU
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// ---
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dcm.update_DCM();
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if(g.compass_enabled) {
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medium_loopCounter++;
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if(medium_loopCounter == 5){
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compass.read(); // Read magnetometer
|
|
compass.calculate(dcm.get_dcm_matrix()); // Calculate heading
|
|
medium_loopCounter = 0;
|
|
}
|
|
}
|
|
|
|
// We are using the IMU
|
|
// ---------------------
|
|
Vector3f gyros = imu.get_gyro();
|
|
Vector3f accels = imu.get_accel();
|
|
Serial.printf_P(PSTR("r:%4d p:%4d y:%3d g=(%5.1f %5.1f %5.1f) a=(%5.1f %5.1f %5.1f)\n"),
|
|
(int)dcm.roll_sensor / 100,
|
|
(int)dcm.pitch_sensor / 100,
|
|
(uint16_t)dcm.yaw_sensor / 100,
|
|
gyros.x, gyros.y, gyros.z,
|
|
accels.x, accels.y, accels.z);
|
|
}
|
|
if(Serial.available() > 0){
|
|
return (0);
|
|
}
|
|
}
|
|
}
|
|
|
|
|
|
static int8_t
|
|
test_mag(uint8_t argc, const Menu::arg *argv)
|
|
{
|
|
if (!g.compass_enabled) {
|
|
Serial.printf_P(PSTR("Compass: "));
|
|
print_enabled(false);
|
|
return (0);
|
|
}
|
|
|
|
compass.set_orientation(MAG_ORIENTATION);
|
|
if (!compass.init()) {
|
|
Serial.println_P(PSTR("Compass initialisation failed!"));
|
|
return 0;
|
|
}
|
|
dcm.set_compass(&compass);
|
|
report_compass();
|
|
|
|
// we need the DCM initialised for this test
|
|
imu.init(IMU::COLD_START, delay, flash_leds, &timer_scheduler);
|
|
dcm.matrix_reset();
|
|
|
|
int counter = 0;
|
|
//Serial.printf_P(PSTR("MAG_ORIENTATION: %d\n"), MAG_ORIENTATION);
|
|
|
|
print_hit_enter();
|
|
|
|
while(1) {
|
|
delay(20);
|
|
if (millis() - fast_loopTimer > 19) {
|
|
delta_ms_fast_loop = millis() - fast_loopTimer;
|
|
G_Dt = (float)delta_ms_fast_loop / 1000.f; // used by DCM integrator
|
|
fast_loopTimer = millis();
|
|
|
|
// IMU
|
|
// ---
|
|
dcm.update_DCM();
|
|
|
|
medium_loopCounter++;
|
|
if(medium_loopCounter == 5){
|
|
compass.read(); // Read magnetometer
|
|
compass.calculate(dcm.get_dcm_matrix()); // Calculate heading
|
|
compass.null_offsets(dcm.get_dcm_matrix());
|
|
medium_loopCounter = 0;
|
|
}
|
|
|
|
counter++;
|
|
if (counter>20) {
|
|
Vector3f maggy = compass.get_offsets();
|
|
Serial.printf_P(PSTR("Heading: %ld, XYZ: %d, %d, %d,\tXYZoff: %6.2f, %6.2f, %6.2f\n"),
|
|
(wrap_360(ToDeg(compass.heading) * 100)) /100,
|
|
compass.mag_x,
|
|
compass.mag_y,
|
|
compass.mag_z,
|
|
maggy.x,
|
|
maggy.y,
|
|
maggy.z);
|
|
counter=0;
|
|
}
|
|
}
|
|
if (Serial.available() > 0) {
|
|
break;
|
|
}
|
|
}
|
|
|
|
// save offsets. This allows you to get sane offset values using
|
|
// the CLI before you go flying.
|
|
Serial.println_P(PSTR("saving offsets"));
|
|
compass.save_offsets();
|
|
return (0);
|
|
}
|
|
|
|
#endif // HIL_MODE == HIL_MODE_DISABLED || HIL_MODE == HIL_MODE_SENSORS
|
|
|
|
//-------------------------------------------------------------------------------------------
|
|
// 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)
|
|
{
|
|
float airspeed_ch = pitot_analog_source.read();
|
|
// Serial.println(pitot_analog_source.read());
|
|
Serial.printf_P(PSTR("airspeed_ch: %.1f\n"), airspeed_ch);
|
|
|
|
if (g.airspeed_enabled == false){
|
|
Serial.printf_P(PSTR("airspeed: "));
|
|
print_enabled(false);
|
|
return (0);
|
|
|
|
}else{
|
|
print_hit_enter();
|
|
zero_airspeed();
|
|
Serial.printf_P(PSTR("airspeed: "));
|
|
print_enabled(true);
|
|
|
|
while(1){
|
|
delay(20);
|
|
read_airspeed();
|
|
Serial.printf_P(PSTR("%.1f m/s\n"), airspeed / 100.0);
|
|
|
|
if(Serial.available() > 0){
|
|
return (0);
|
|
}
|
|
}
|
|
}
|
|
}
|
|
|
|
|
|
static int8_t
|
|
test_pressure(uint8_t argc, const Menu::arg *argv)
|
|
{
|
|
Serial.printf_P(PSTR("Uncalibrated relative airpressure\n"));
|
|
print_hit_enter();
|
|
|
|
home.alt = 0;
|
|
wp_distance = 0;
|
|
init_barometer();
|
|
|
|
while(1){
|
|
delay(100);
|
|
current_loc.alt = read_barometer() + home.alt;
|
|
|
|
Serial.printf_P(PSTR("Alt: %0.2fm, Raw: %ld Temperature: %.1f\n"),
|
|
current_loc.alt / 100.0,
|
|
abs_pressure, 0.1*barometer.get_temperature());
|
|
|
|
if(Serial.available() > 0){
|
|
return (0);
|
|
}
|
|
}
|
|
}
|
|
|
|
static int8_t
|
|
test_rawgps(uint8_t argc, const Menu::arg *argv)
|
|
{
|
|
print_hit_enter();
|
|
delay(1000);
|
|
|
|
while(1){
|
|
if (Serial3.available()){
|
|
digitalWrite(B_LED_PIN, LED_ON); // Blink Yellow LED if we are sending data to GPS
|
|
Serial1.write(Serial3.read());
|
|
digitalWrite(B_LED_PIN, LED_OFF);
|
|
}
|
|
if (Serial1.available()){
|
|
digitalWrite(C_LED_PIN, LED_ON); // Blink Red LED if we are receiving data from GPS
|
|
Serial3.write(Serial1.read());
|
|
digitalWrite(C_LED_PIN, LED_OFF);
|
|
}
|
|
if(Serial.available() > 0){
|
|
return (0);
|
|
}
|
|
}
|
|
}
|
|
#endif // HIL_MODE == HIL_MODE_DISABLED
|
|
|
|
#endif // CLI_ENABLED
|