mirror of https://github.com/ArduPilot/ardupilot
590 lines
15 KiB
Plaintext
590 lines
15 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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static int8_t test_ins(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_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_sonar(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_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
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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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// 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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{"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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{"gps", test_gps},
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{"ins", test_ins},
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{"sonartest", test_sonar},
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{"compass", test_mag},
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{"logging", test_logging},
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#if CONFIG_HAL_BOARD == HAL_BOARD_PX4
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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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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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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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channel_steer->radio_in,
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g.rc_2.radio_in,
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channel_throttle->radio_in,
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g.rc_4.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(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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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 (hal.rcin->valid_channels() > 0) {
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cliSerial->print("CH:");
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for(int i = 0; i < 8; i++){
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cliSerial->print(hal.rcin->read(i)); // Print channel values
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cliSerial->print(",");
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hal.rcout->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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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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delay(20);
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read_radio();
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channel_steer->calc_pwm();
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channel_throttle->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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channel_steer->control_in,
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g.rc_2.control_in,
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channel_throttle->control_in,
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g.rc_4.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(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(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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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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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(channel_throttle->control_in > 0){
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cliSerial->printf_P(PSTR("THROTTLE CHANGED %d \n"), 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_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.fs_throttle_enabled && channel_throttle->get_failsafe()){
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cliSerial->printf_P(PSTR("THROTTLE FAILSAFE ACTIVATED: %d, "), channel_throttle->radio_in);
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print_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_battery(uint8_t argc, const Menu::arg *argv)
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{
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if (g.battery_monitoring == 3 || g.battery_monitoring == 4) {
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print_hit_enter();
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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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if (g.battery_monitoring == 3){
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cliSerial->printf_P(PSTR("V: %4.4f\n"),
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battery_voltage1,
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current_amps1,
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current_total1);
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} else {
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cliSerial->printf_P(PSTR("V: %4.4f, A: %4.4f, mAh: %4.4f\n"),
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battery_voltage1,
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current_amps1,
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current_total1);
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}
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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(cliSerial->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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cliSerial->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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cliSerial->printf_P(PSTR("Relay on\n"));
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relay.on();
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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();
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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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delay(1000);
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cliSerial->printf_P(PSTR("%u waypoints\n"), (unsigned)g.command_total);
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cliSerial->printf_P(PSTR("Hit radius: %f\n"), g.waypoint_radius);
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for(uint8_t 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(const struct Location *cmd, uint8_t wp_index)
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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)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_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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cliSerial->printf_P(PSTR("Control CH "));
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cliSerial->println(MODE_CHANNEL, DEC);
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while(1){
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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"), 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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cliSerial->println_P(PSTR("Testing dataflash logging"));
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DataFlash.ShowDeviceInfo(cliSerial);
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return 0;
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}
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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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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(100);
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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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cliSerial->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_cm/100,
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g_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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ins.init(AP_InertialSensor::COLD_START,
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ins_sample_rate,
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flash_leds);
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ahrs.reset();
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print_hit_enter();
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delay(1000);
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uint8_t medium_loopCounter = 0;
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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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// INS
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// ---
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ahrs.update();
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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();
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medium_loopCounter = 0;
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}
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}
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// We are using the IMU
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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_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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flash_leds);
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ahrs.reset();
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int counter = 0;
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float heading = 0;
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print_hit_enter();
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uint8_t medium_loopCounter = 0;
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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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ahrs.update();
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medium_loopCounter++;
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if(medium_loopCounter >= 5){
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if (compass.read()) {
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// Calculate heading
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Matrix3f m = ahrs.get_dcm_matrix();
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heading = compass.calculate_heading(m);
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compass.null_offsets();
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}
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medium_loopCounter = 0;
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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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Vector3f maggy = compass.get_offsets();
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cliSerial->printf_P(PSTR("Heading: %ld, XYZ: %d, %d, %d,\tXYZoff: %6.2f, %6.2f, %6.2f\n"),
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(wrap_360_cd(ToDeg(heading) * 100)) /100,
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(int)compass.mag_x,
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(int)compass.mag_y,
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(int)compass.mag_z,
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maggy.x,
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maggy.y,
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maggy.z);
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} else {
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cliSerial->println_P(PSTR("compass not healthy"));
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}
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counter=0;
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}
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}
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if (cliSerial->available() > 0) {
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break;
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}
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}
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// save offsets. This allows you to get sane offset values using
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// the CLI before you go flying.
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cliSerial->println_P(PSTR("saving offsets"));
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compass.save_offsets();
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return (0);
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}
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//-------------------------------------------------------------------------------------------
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// real sensors that have not been simulated yet go here
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static int8_t
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test_sonar(uint8_t argc, const Menu::arg *argv)
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{
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if (!sonar.enabled()) {
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cliSerial->println_P(PSTR("WARNING: Sonar is not enabled"));
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}
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print_hit_enter();
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init_sonar();
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float sonar_dist_cm_min = 0.0f;
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float sonar_dist_cm_max = 0.0f;
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float voltage_min=0.0f, voltage_max = 0.0f;
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float sonar2_dist_cm_min = 0.0f;
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float sonar2_dist_cm_max = 0.0f;
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float voltage2_min=0.0f, voltage2_max = 0.0f;
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uint32_t last_print = 0;
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while (true) {
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delay(20);
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uint32_t now = millis();
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float dist_cm = sonar.distance_cm();
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float voltage = sonar.voltage();
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if (sonar_dist_cm_min == 0.0f) {
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sonar_dist_cm_min = dist_cm;
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voltage_min = voltage;
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}
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sonar_dist_cm_max = max(sonar_dist_cm_max, dist_cm);
|
|
sonar_dist_cm_min = min(sonar_dist_cm_min, dist_cm);
|
|
voltage_min = min(voltage_min, voltage);
|
|
voltage_max = max(voltage_max, voltage);
|
|
|
|
dist_cm = sonar2.distance_cm();
|
|
voltage = sonar2.voltage();
|
|
if (sonar2_dist_cm_min == 0.0f) {
|
|
sonar2_dist_cm_min = dist_cm;
|
|
voltage2_min = voltage;
|
|
}
|
|
sonar2_dist_cm_max = max(sonar2_dist_cm_max, dist_cm);
|
|
sonar2_dist_cm_min = min(sonar2_dist_cm_min, dist_cm);
|
|
voltage2_min = min(voltage2_min, voltage);
|
|
voltage2_max = max(voltage2_max, voltage);
|
|
|
|
if (now - last_print >= 200) {
|
|
cliSerial->printf_P(PSTR("sonar1 dist=%.1f:%.1fcm volt1=%.2f:%.2f sonar2 dist=%.1f:%.1fcm volt2=%.2f:%.2f\n"),
|
|
sonar_dist_cm_min,
|
|
sonar_dist_cm_max,
|
|
voltage_min,
|
|
voltage_max,
|
|
sonar2_dist_cm_min,
|
|
sonar2_dist_cm_max,
|
|
voltage2_min,
|
|
voltage2_max);
|
|
voltage_min = voltage_max = 0.0f;
|
|
voltage2_min = voltage2_max = 0.0f;
|
|
sonar_dist_cm_min = sonar_dist_cm_max = 0.0f;
|
|
sonar2_dist_cm_min = sonar2_dist_cm_max = 0.0f;
|
|
last_print = now;
|
|
}
|
|
if (cliSerial->available() > 0) {
|
|
break;
|
|
}
|
|
}
|
|
return (0);
|
|
}
|
|
|
|
#if CONFIG_HAL_BOARD == HAL_BOARD_PX4
|
|
/*
|
|
* run a debug shell
|
|
*/
|
|
static int8_t
|
|
test_shell(uint8_t argc, const Menu::arg *argv)
|
|
{
|
|
hal.util->run_debug_shell(cliSerial);
|
|
return 0;
|
|
}
|
|
#endif
|
|
|
|
#endif // CLI_ENABLED
|