mirror of https://github.com/ArduPilot/ardupilot
625 lines
19 KiB
Plaintext
625 lines
19 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_failsafe(uint8_t argc, const Menu::arg *argv);
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//static int8_t test_stabilize(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_tri(uint8_t argc, const Menu::arg *argv);
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//static int8_t test_adc(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_imu(uint8_t argc, const Menu::arg *argv);
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//static int8_t test_dcm_eulers(uint8_t argc, const Menu::arg *argv);
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//static int8_t test_dcm(uint8_t argc, const Menu::arg *argv);
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//static int8_t test_omega(uint8_t argc, const Menu::arg *argv);
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//static int8_t test_stab_d(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_toy(uint8_t argc, const Menu::arg *argv);
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static int8_t test_wp_nav(uint8_t argc, const Menu::arg *argv);
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//static int8_t test_reverse(uint8_t argc, const Menu::arg *argv);
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static int8_t test_tuning(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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#if HIL_MODE != HIL_MODE_ATTITUDE && HIL_MODE != HIL_MODE_SENSORS
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static int8_t test_baro(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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#endif
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static int8_t test_mag(uint8_t argc, const Menu::arg *argv);
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static int8_t test_optflow(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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//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_mission(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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// This is the help function
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// PSTR is an AVR macro to read strings from flash memory
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// printf_P is a version of printf that reads from flash memory
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/*static int8_t help_test(uint8_t argc, const Menu::arg *argv)
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* {
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* cliSerial->printf_P(PSTR("\n"
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* "Commands:\n"
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* " radio\n"
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* " servos\n"
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* " g_gps\n"
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* " imu\n"
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* " battery\n"
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* "\n"));
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* }*/
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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_Coommon for implementation details
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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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{"gps", test_gps},
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{"ins", test_ins},
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{"battery", test_battery},
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{"tune", test_tuning},
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{"relay", test_relay},
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{"wp", test_wp},
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// {"toy", test_toy},
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#if HIL_MODE != HIL_MODE_ATTITUDE && HIL_MODE != HIL_MODE_SENSORS
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{"altitude", test_baro},
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{"sonar", test_sonar},
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#endif
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{"compass", test_mag},
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{"optflow", test_optflow},
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//{"xbee", test_xbee},
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{"eedump", test_eedump},
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{"logging", test_logging},
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{"nav", test_wp_nav},
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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 int8_t
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test_eedump(uint8_t argc, const Menu::arg *argv)
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{
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// hexdump the EEPROM
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for (uint16_t i = 0; i < EEPROM_MAX_ADDR; i += 16) {
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cliSerial->printf_P(PSTR("%04x:"), i);
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for (uint16_t j = 0; j < 16; j++) {
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int b = hal.storage->read_byte(i+j);
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cliSerial->printf_P(PSTR(" %02x"), b);
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}
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cliSerial->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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// servo Yaw
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//APM_RC.OutputCh(CH_7, g.rc_4.radio_out);
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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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g.rc_1.radio_in,
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g.rc_2.radio_in,
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g.rc_3.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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/*
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//static int8_t
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//test_toy(uint8_t argc, const Menu::arg *argv)
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{
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for(altitude_error = 2000; altitude_error > -100; altitude_error--){
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int16_t temp = get_desired_climb_rate();
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cliSerial->printf("%ld, %d\n", altitude_error, temp);
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}
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return 0;
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}
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{ wp_distance = 0;
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int16_t max_speed = 0;
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for(int16_t i = 0; i < 200; i++){
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int32_t temp = 2 * 100 * (wp_distance - wp_nav.get_waypoint_radius());
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max_speed = sqrtf((float)temp);
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max_speed = min(max_speed, wp_nav.get_horizontal_speed());
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cliSerial->printf("Zspeed: %ld, %d, %ld\n", temp, max_speed, wp_distance);
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wp_distance += 100;
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}
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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_toy(uint8_t argc, const Menu::arg *argv)
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* {
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* int16_t yaw_rate;
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* int16_t roll_rate;
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* g.rc_1.control_in = -2500;
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* g.rc_2.control_in = 2500;
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*
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* g.toy_yaw_rate = 3;
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* yaw_rate = g.rc_1.control_in / g.toy_yaw_rate;
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* roll_rate = ((int32_t)g.rc_2.control_in * (yaw_rate/100)) /40;
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* cliSerial->printf("yaw_rate, %d, roll_rate, %d\n", yaw_rate, roll_rate);
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*
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* g.toy_yaw_rate = 2;
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* yaw_rate = g.rc_1.control_in / g.toy_yaw_rate;
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* roll_rate = ((int32_t)g.rc_2.control_in * (yaw_rate/100)) /40;
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* cliSerial->printf("yaw_rate, %d, roll_rate, %d\n", yaw_rate, roll_rate);
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*
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* g.toy_yaw_rate = 1;
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* yaw_rate = g.rc_1.control_in / g.toy_yaw_rate;
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* roll_rate = ((int32_t)g.rc_2.control_in * (yaw_rate/100)) /40;
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* cliSerial->printf("yaw_rate, %d, roll_rate, %d\n", yaw_rate, roll_rate);
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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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while(1) {
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delay(20);
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read_radio();
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cliSerial->printf_P(PSTR("IN 1: %d\t2: %d\t3: %d\t4: %d\t5: %d\t6: %d\t7: %d\n"),
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g.rc_1.control_in,
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g.rc_2.control_in,
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g.rc_3.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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//cliSerial->printf_P(PSTR("OUT 1: %d\t2: %d\t3: %d\t4: %d\n"), (g.rc_1.servo_out / 100), (g.rc_2.servo_out / 100), g.rc_3.servo_out, (g.rc_4.servo_out / 100));
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/*cliSerial->printf_P(PSTR( "min: %d"
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* "\t in: %d"
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* "\t pwm_in: %d"
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* "\t sout: %d"
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* "\t pwm_out %d\n"),
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* g.rc_3.radio_min,
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* g.rc_3.control_in,
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* g.rc_3.radio_in,
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* g.rc_3.servo_out,
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* g.rc_3.pwm_out
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* );
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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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Vector3f gyro, accel;
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print_hit_enter();
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cliSerial->printf_P(PSTR("INS\n"));
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delay(1000);
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ahrs.init();
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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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delay(50);
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while(1) {
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ins.update();
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gyro = ins.get_gyro();
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accel = ins.get_accel();
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float test = accel.length() / GRAVITY_MSS;
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cliSerial->printf_P(PSTR("a %7.4f %7.4f %7.4f g %7.4f %7.4f %7.4f t %74f | %7.4f\n"),
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accel.x, accel.y, accel.z,
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gyro.x, gyro.y, gyro.z,
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test);
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delay(40);
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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_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: "));
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print_latlon(cliSerial, g_gps->latitude);
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cliSerial->printf_P(PSTR(", Lon "));
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print_latlon(cliSerial, g_gps->longitude);
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cliSerial->printf_P(PSTR(", Alt: %ldm, #sats: %d\n"),
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g_gps->altitude/100,
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g_gps->num_sats);
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g_gps->new_data = false;
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}else{
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cliSerial->print_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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return 0;
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}
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static int8_t
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test_tuning(uint8_t argc, const Menu::arg *argv)
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{
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print_hit_enter();
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while(1) {
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delay(200);
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read_radio();
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tuning();
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cliSerial->printf_P(PSTR("tune: %1.3f\n"), tuning_value);
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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_battery(uint8_t argc, const Menu::arg *argv)
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{
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cliSerial->printf_P(PSTR("\nCareful! Motors will spin! Press Enter to start.\n"));
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while (cliSerial->read() != -1); /* flush */
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while(!cliSerial->available()) { /* wait for input */
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delay(100);
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}
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while (cliSerial->read() != -1); /* flush */
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print_hit_enter();
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// allow motors to spin
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motors.enable();
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motors.armed(true);
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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 == BATT_MONITOR_VOLTAGE_ONLY) {
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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, Ah: %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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motors.throttle_pass_through();
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if(cliSerial->available() > 0) {
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motors.armed(false);
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return (0);
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}
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}
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motors.armed(false);
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return (0);
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}
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static int8_t 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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// save the alitude above home option
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cliSerial->printf_P(PSTR("Hold alt "));
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if(g.rtl_altitude < 0) {
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cliSerial->printf_P(PSTR("\n"));
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}else{
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cliSerial->printf_P(PSTR("of %dm\n"), (int)g.rtl_altitude / 100);
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}
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cliSerial->printf_P(PSTR("%d wp\n"), (int)g.command_total);
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cliSerial->printf_P(PSTR("Hit rad: %dm\n"), (int)wp_nav.get_waypoint_radius());
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report_wp();
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return (0);
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}
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#if HIL_MODE != HIL_MODE_ATTITUDE && HIL_MODE != HIL_MODE_SENSORS
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static int8_t
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test_baro(uint8_t argc, const Menu::arg *argv)
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{
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print_hit_enter();
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init_barometer();
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while(1) {
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delay(100);
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int32_t alt = read_barometer(); // calls barometer.read()
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float pres = barometer.get_pressure();
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int16_t temp = barometer.get_temperature();
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int32_t raw_pres = barometer.get_raw_pressure();
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int32_t raw_temp = barometer.get_raw_temp();
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cliSerial->printf_P(PSTR("alt: %ldcm, pres: %fmbar, temp: %d/100degC,"
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" raw pres: %ld, raw temp: %ld\n"),
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(long)alt, pres, (int)temp, (long)raw_pres, (long)raw_temp);
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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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#endif
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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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uint8_t delta_ms_fast_loop;
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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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int16_t counter = 0;
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float heading = 0;
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print_hit_enter();
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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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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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const 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;
|
|
}
|
|
|
|
counter++;
|
|
if (counter>20) {
|
|
if (compass.healthy) {
|
|
Vector3f maggy = compass.get_offsets();
|
|
cliSerial->printf_P(PSTR("Heading: %ld, XYZ: %d, %d, %d,\tXYZoff: %6.2f, %6.2f, %6.2f\n"),
|
|
(wrap_360_cd(ToDeg(heading) * 100)) /100,
|
|
(int)compass.mag_x,
|
|
(int)compass.mag_y,
|
|
(int)compass.mag_z,
|
|
maggy.x,
|
|
maggy.y,
|
|
maggy.z);
|
|
} else {
|
|
cliSerial->println_P(PSTR("compass not healthy"));
|
|
}
|
|
counter=0;
|
|
}
|
|
}
|
|
if (cliSerial->available() > 0) {
|
|
break;
|
|
}
|
|
}
|
|
|
|
// save offsets. This allows you to get sane offset values using
|
|
// the CLI before you go flying.
|
|
cliSerial->println_P(PSTR("saving offsets"));
|
|
compass.save_offsets();
|
|
return (0);
|
|
}
|
|
|
|
#if HIL_MODE != HIL_MODE_ATTITUDE && HIL_MODE != HIL_MODE_SENSORS
|
|
/*
|
|
* test the sonar
|
|
*/
|
|
static int8_t
|
|
test_sonar(uint8_t argc, const Menu::arg *argv)
|
|
{
|
|
#if CONFIG_SONAR == ENABLED
|
|
if(g.sonar_enabled == false) {
|
|
cliSerial->printf_P(PSTR("Sonar disabled\n"));
|
|
return (0);
|
|
}
|
|
|
|
// make sure sonar is initialised
|
|
init_sonar();
|
|
|
|
print_hit_enter();
|
|
while(1) {
|
|
delay(100);
|
|
|
|
cliSerial->printf_P(PSTR("Sonar: %d cm\n"), sonar->read());
|
|
|
|
if(cliSerial->available() > 0) {
|
|
return (0);
|
|
}
|
|
}
|
|
#endif
|
|
return (0);
|
|
}
|
|
#endif
|
|
|
|
|
|
static int8_t
|
|
test_optflow(uint8_t argc, const Menu::arg *argv)
|
|
{
|
|
#if OPTFLOW == ENABLED
|
|
if(g.optflow_enabled) {
|
|
cliSerial->printf_P(PSTR("man id: %d\t"),optflow.read_register(ADNS3080_PRODUCT_ID));
|
|
print_hit_enter();
|
|
|
|
while(1) {
|
|
delay(200);
|
|
optflow.update(millis());
|
|
Log_Write_Optflow();
|
|
cliSerial->printf_P(PSTR("x/dx: %d/%d\t y/dy %d/%d\t squal:%d\n"),
|
|
optflow.x,
|
|
optflow.dx,
|
|
optflow.y,
|
|
optflow.dy,
|
|
optflow.surface_quality);
|
|
|
|
if(cliSerial->available() > 0) {
|
|
return (0);
|
|
}
|
|
}
|
|
} else {
|
|
cliSerial->printf_P(PSTR("OptFlow: "));
|
|
print_enabled(false);
|
|
}
|
|
return (0);
|
|
#else
|
|
return (0);
|
|
#endif // OPTFLOW == ENABLED
|
|
}
|
|
|
|
|
|
static int8_t
|
|
test_wp_nav(uint8_t argc, const Menu::arg *argv)
|
|
{
|
|
current_loc.lat = 389539260;
|
|
current_loc.lng = -1199540200;
|
|
|
|
wp_nav.set_destination(pv_latlon_to_vector(389538528,-1199541248,0));
|
|
|
|
// got 23506;, should be 22800
|
|
update_navigation();
|
|
cliSerial->printf_P(PSTR("bear: %ld\n"), wp_bearing);
|
|
return 0;
|
|
}
|
|
|
|
/*
|
|
* test the dataflash is working
|
|
*/
|
|
|
|
static int8_t
|
|
test_logging(uint8_t argc, const Menu::arg *argv)
|
|
{
|
|
cliSerial->println_P(PSTR("Testing dataflash logging"));
|
|
DataFlash.ShowDeviceInfo(cliSerial);
|
|
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
|
|
|
|
static void print_hit_enter()
|
|
{
|
|
cliSerial->printf_P(PSTR("Hit Enter to exit.\n\n"));
|
|
}
|
|
|
|
#endif // CLI_ENABLED
|