ardupilot/libraries/AP_Airspeed/examples/Airspeed/Airspeed.cpp

57 lines
1.7 KiB
C++

/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
/*
This program is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation, either version 3 of the License, or
(at your option) any later version.
This program is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with this program. If not, see <http://www.gnu.org/licenses/>.
*/
/*
* Airspeed.pde - airspeed example sketch
*
*/
#include <AP_HAL/AP_HAL.h>
#include <AP_ADC/AP_ADC.h>
#include <AP_ADC_AnalogSource/AP_ADC_AnalogSource.h>
#include <AP_Airspeed/AP_Airspeed.h>
const AP_HAL::HAL& hal = AP_HAL::get_HAL();
static AP_Vehicle::FixedWing aparm;
AP_Airspeed airspeed(aparm);
void setup()
{
hal.console->println("ArduPilot Airspeed library test");
AP_Param::set_object_value(&airspeed, airspeed.var_info, "_PIN", 65);
AP_Param::set_object_value(&airspeed, airspeed.var_info, "_ENABLE", 1);
AP_Param::set_object_value(&airspeed, airspeed.var_info, "_USE", 1);
airspeed.init();
airspeed.calibrate(false);
}
void loop(void)
{
static uint32_t timer;
if((hal.scheduler->millis() - timer) > 100) {
timer = hal.scheduler->millis();
airspeed.read();
hal.console->printf("airspeed %.2f healthy=%u\n", airspeed.get_airspeed(), airspeed.healthy());
}
hal.scheduler->delay(1);
}
AP_HAL_MAIN();