mirror of
https://github.com/ArduPilot/ardupilot
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c1d97878a5
Refactor the existing AP_IMU as AP_IMU_Oilpan (this will require changes in other projects TBD). Add a shim IMU class for use by e.g. HIL protocol handlers. This paves the way for a better handling of HIL_MODE_SENSORS as well as the mooted SPI-based oilpan IMU. git-svn-id: https://arducopter.googlecode.com/svn/trunk@1342 f9c3cf11-9bcb-44bc-f272-b75c42450872
39 lines
752 B
Plaintext
39 lines
752 B
Plaintext
// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: t -*-
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//
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// Simple test for the AP_IMU driver.
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//
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#include <FastSerial.h>
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#include <AP_IMU.h>
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#include <AP_ADC.h>
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#include <AP_Math.h>
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#include <AP_Common.h>
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FastSerialPort(Serial, 0);
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AP_ADC_ADS7844 adc;
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AP_IMU_Oilpan imu(&adc, 0); // disable warm-start for now
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void setup(void)
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{
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Serial.begin(38400);
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Serial.println("Doing IMU startup...");
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adc.Init();
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imu.init(IMU::COLD_START);
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}
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void loop(void)
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{
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Vector3f accel;
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Vector3f gyro;
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delay(1000);
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imu.update();
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accel = imu.get_accel();
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gyro = imu.get_gyro();
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Serial.printf("AX: 0x%4.4f AY: 0x%4.4f AZ: 0x%4.4f GX: 0x%4.4f GY: 0x%4.4f GZ: 0x%4.4f\n",
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accel.x, accel.y, accel.z, gyro.x, gyro.y, gyro.z);
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}
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