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

99 lines
2.7 KiB
C++

/*
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.cpp - airspeed example sketch
*
*/
#include <AP_AHRS/AP_AHRS.h>
#include <AP_Airspeed/AP_Airspeed.h>
#include <AP_HAL/AP_HAL.h>
#include <AP_BoardConfig/AP_BoardConfig.h>
#include <GCS_MAVLink/GCS_Dummy.h>
void setup();
void loop();
const AP_HAL::HAL& hal = AP_HAL::get_HAL();
float temperature;
// create an AHRS object for get_airspeed_max
AP_AHRS_DCM ahrs;
// create airspeed object
AP_Airspeed airspeed;
static AP_BoardConfig board_config;
namespace {
// try to set the object value but provide diagnostic if it failed
void set_object_value(const void *object_pointer,
const struct AP_Param::GroupInfo *group_info,
const char *name, float value)
{
if (!AP_Param::set_object_value(object_pointer, group_info, name, value)) {
hal.console->printf("WARNING: AP_Param::set object value \"%s::%s\" Failed.\n",
group_info->name, name);
}
}
}
// to be called only once on boot for initializing objects
void setup()
{
hal.console->printf("ArduPilot Airspeed library test\n");
// set airspeed pin to 65, enable and use to true
set_object_value(&airspeed, airspeed.var_info, "PIN", 65);
set_object_value(&airspeed, airspeed.var_info, "ENABLE", 1);
set_object_value(&airspeed, airspeed.var_info, "USE", 1);
board_config.init();
// initialize airspeed
airspeed.init();
airspeed.calibrate(false);
}
// loop
void loop(void)
{
static uint32_t timer;
// run read() and get_temperature() in 10Hz
if ((AP_HAL::millis() - timer) > 100) {
// current system time in milliseconds
timer = AP_HAL::millis();
airspeed.update(false);
airspeed.get_temperature(temperature);
// print temperature and airspeed to console
hal.console->printf("airspeed %5.2f temperature %6.2f healthy = %u\n",
(double)airspeed.get_airspeed(), (double)temperature, airspeed.healthy());
}
hal.scheduler->delay(1);
}
const struct AP_Param::GroupInfo GCS_MAVLINK_Parameters::var_info[] = {
AP_GROUPEND
};
GCS_Dummy _gcs;
AP_HAL_MAIN();