mirror of https://github.com/ArduPilot/ardupilot
276 lines
7.8 KiB
C++
276 lines
7.8 KiB
C++
#include "Plane.h"
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#if CLI_ENABLED == ENABLED
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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[] = {
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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", MENU_FUNC(test_gps)},
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{"ins", MENU_FUNC(test_ins)},
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{"airspeed", MENU_FUNC(test_airspeed)},
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{"airpressure", MENU_FUNC(test_pressure)},
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{"compass", MENU_FUNC(test_mag)},
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{"logging", MENU_FUNC(test_logging)},
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#if CONFIG_HAL_BOARD == HAL_BOARD_PX4 || CONFIG_HAL_BOARD == HAL_BOARD_VRBRAIN
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{"shell", MENU_FUNC(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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int8_t Plane::test_mode(uint8_t argc, const Menu::arg *argv)
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{
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cliSerial->printf("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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void Plane::print_hit_enter()
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{
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cliSerial->printf("Hit Enter to exit.\n\n");
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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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int8_t Plane::test_logging(uint8_t argc, const Menu::arg *argv)
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{
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DataFlash.ShowDeviceInfo(cliSerial);
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return 0;
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}
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#if CONFIG_HAL_BOARD == HAL_BOARD_PX4 || CONFIG_HAL_BOARD == HAL_BOARD_VRBRAIN
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/*
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* run a debug shell
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*/
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int8_t Plane::test_shell(uint8_t argc, const Menu::arg *argv)
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{
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hal.util->run_debug_shell(cliSerial);
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return 0;
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}
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#endif
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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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int8_t Plane::test_gps(uint8_t argc, const Menu::arg *argv)
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{
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print_hit_enter();
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hal.scheduler->delay(1000);
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uint32_t last_message_time_ms = 0;
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while(1) {
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hal.scheduler->delay(100);
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gps.update();
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if (gps.last_message_time_ms() != last_message_time_ms) {
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last_message_time_ms = gps.last_message_time_ms();
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const Location &loc = gps.location();
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cliSerial->printf("Lat: %ld, Lon %ld, Alt: %ldm, #sats: %d\n",
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(long)loc.lat,
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(long)loc.lng,
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(long)loc.alt/100,
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(int)gps.num_sats());
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} else {
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cliSerial->printf(".");
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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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int8_t Plane::test_ins(uint8_t argc, const Menu::arg *argv)
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{
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//cliSerial->printf("Calibrating.");
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ahrs.init();
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ahrs.set_fly_forward(true);
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ahrs.set_wind_estimation(true);
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ins.init(scheduler.get_loop_rate_hz());
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ahrs.reset();
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print_hit_enter();
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hal.scheduler->delay(1000);
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uint8_t counter = 0;
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while(1) {
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hal.scheduler->delay(20);
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if (micros() - perf.fast_loopTimer_us > 19000UL) {
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perf.fast_loopTimer_us = micros();
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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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counter++;
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if(counter == 5) {
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compass.read();
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counter = 0;
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}
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}
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// We are using the INS
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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("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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(double)gyros.x, (double)gyros.y, (double)gyros.z,
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(double)accels.x, (double)accels.y, (double)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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int8_t Plane::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("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->printf("Compass initialisation failed!\n");
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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_wind_estimation(true);
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ahrs.set_compass(&compass);
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// we need the AHRS initialised for this test
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ins.init(scheduler.get_loop_rate_hz());
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ahrs.reset();
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uint16_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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hal.scheduler->delay(20);
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if (micros() - perf.fast_loopTimer_us > 19000UL) {
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perf.fast_loopTimer_us = micros();
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// INS
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// ---
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ahrs.update();
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if(counter % 5 == 0) {
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if (compass.read()) {
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// Calculate heading
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const Matrix3f &m = ahrs.get_rotation_body_to_ned();
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heading = compass.calculate_heading(m);
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compass.learn_offsets();
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}
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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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const Vector3f &mag_ofs = compass.get_offsets();
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const Vector3f &mag = compass.get_field();
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cliSerial->printf("Heading: %f, XYZ: %.0f, %.0f, %.0f,\tXYZoff: %6.2f, %6.2f, %6.2f\n",
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(double)((wrap_360_cd(ToDeg(heading) * 100)) /100),
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(double)mag.x, (double)mag.y, (double)mag.z,
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(double)mag_ofs.x, (double)mag_ofs.y, (double)mag_ofs.z);
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} else {
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cliSerial->printf("compass not healthy\n");
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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->printf("saving offsets\n");
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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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int8_t Plane::test_airspeed(uint8_t argc, const Menu::arg *argv)
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{
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if (!airspeed.enabled()) {
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cliSerial->printf("airspeed: ");
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print_enabled(false);
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return (0);
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}else{
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print_hit_enter();
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zero_airspeed(false);
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cliSerial->printf("airspeed: ");
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print_enabled(true);
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while(1) {
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hal.scheduler->delay(20);
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read_airspeed();
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cliSerial->printf("%.1f m/s\n", (double)airspeed.get_airspeed());
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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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int8_t Plane::test_pressure(uint8_t argc, const Menu::arg *argv)
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{
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cliSerial->printf("Uncalibrated relative airpressure\n");
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print_hit_enter();
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init_barometer(true);
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while(1) {
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hal.scheduler->delay(100);
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barometer.update();
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if (!barometer.healthy()) {
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cliSerial->printf("not healthy\n");
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} else {
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cliSerial->printf("Alt: %0.2fm, Raw: %f Temperature: %.1f\n",
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(double)barometer.get_altitude(),
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(double)barometer.get_pressure(),
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(double)barometer.get_temperature());
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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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void Plane::print_enabled(bool b)
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{
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if (b) {
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cliSerial->printf("en");
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} else {
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cliSerial->printf("dis");
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}
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cliSerial->printf("abled\n");
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}
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#endif // CLI_ENABLED
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