mirror of https://github.com/ArduPilot/ardupilot
71 lines
1.7 KiB
C++
71 lines
1.7 KiB
C++
/*
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generic Baro driver test
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*/
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#include <AP_Baro/AP_Baro.h>
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#include <AP_BoardConfig/AP_BoardConfig.h>
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#include <AP_HAL/AP_HAL.h>
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const AP_HAL::HAL &hal = AP_HAL::get_HAL();
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static AP_Baro barometer = AP_Baro::create();
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static uint32_t timer;
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static uint8_t counter;
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static AP_BoardConfig board_config = AP_BoardConfig::create();
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void setup();
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void loop();
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void setup()
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{
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hal.console->printf("Barometer library test\n");
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board_config.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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if (!hal.console->is_initialized()) {
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return;
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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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if (!barometer.healthy()) {
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hal.console->printf("not healthy\n");
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return;
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}
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hal.console->printf(" Pressure: %.2f Pa\n"
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" Temperature: %.2f degC\n"
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" Relative Altitude: %.2f m\n"
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" climb=%.2f m/s\n"
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" Read + update time: %u usec\n"
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"\n",
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(double)barometer.get_pressure(),
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(double)barometer.get_temperature(),
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(double)barometer.get_altitude(),
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(double)barometer.get_climb_rate(),
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read_time);
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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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