mirror of https://github.com/ArduPilot/ardupilot
63 lines
1.5 KiB
C++
63 lines
1.5 KiB
C++
/*
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generic Baro driver test
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*/
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#include <AP_HAL/AP_HAL.h>
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#include <AP_Baro/AP_Baro.h>
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#include <AP_BoardConfig/AP_BoardConfig.h>
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const AP_HAL::HAL& hal = AP_HAL::get_HAL();
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static AP_Baro barometer;
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static uint32_t timer;
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static uint8_t counter;
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void setup()
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{
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hal.console->println("Barometer library test");
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AP_BoardConfig{}.init();
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hal.scheduler->delay(1000);
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barometer.init();
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barometer.calibrate();
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timer = AP_HAL::micros();
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}
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void loop()
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{
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// run accumulate() at 50Hz and update() at 10Hz
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if((AP_HAL::micros() - timer) > 20*1000UL) {
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timer = AP_HAL::micros();
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barometer.accumulate();
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if (counter++ < 5) {
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return;
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}
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counter = 0;
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barometer.update();
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uint32_t read_time = AP_HAL::micros() - timer;
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float alt = barometer.get_altitude();
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if (!barometer.healthy()) {
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hal.console->println("not healthy");
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return;
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}
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hal.console->print("Pressure:");
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hal.console->print(barometer.get_pressure());
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hal.console->print(" Temperature:");
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hal.console->print(barometer.get_temperature());
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hal.console->print(" Altitude:");
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hal.console->print(alt);
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hal.console->printf(" climb=%.2f t=%u",
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barometer.get_climb_rate(),
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(unsigned)read_time);
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hal.console->println();
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} else {
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hal.scheduler->delay(1);
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}
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}
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AP_HAL_MAIN();
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