mirror of https://github.com/ArduPilot/ardupilot
114 lines
3.1 KiB
C++
114 lines
3.1 KiB
C++
//
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// Simple test for the AP_AHRS interface
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//
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#include <AP_AHRS/AP_AHRS.h>
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#include <AP_HAL/AP_HAL.h>
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#include <AP_BoardConfig/AP_BoardConfig.h>
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#include <GCS_MAVLink/GCS_Dummy.h>
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#include <AP_RangeFinder/AP_RangeFinder.h>
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#include <AP_Logger/AP_Logger.h>
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#include <AP_GPS/AP_GPS.h>
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#include <AP_Baro/AP_Baro.h>
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#include <AP_ExternalAHRS/AP_ExternalAHRS.h>
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#include <AP_Vehicle/AP_Vehicle.h>
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void setup();
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void loop();
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const AP_HAL::HAL& hal = AP_HAL::get_HAL();
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static AP_SerialManager serial_manager;
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class DummyVehicle : public AP_Vehicle {
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public:
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AP_AHRS ahrs{AP_AHRS::FLAG_ALWAYS_USE_EKF};
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bool set_mode(const uint8_t new_mode, const ModeReason reason) override { return true; };
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uint8_t get_mode() const override { return 1; };
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void get_scheduler_tasks(const AP_Scheduler::Task *&tasks, uint8_t &task_count, uint32_t &log_bit) override {};
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void init_ardupilot() override {};
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void load_parameters() override {};
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void init() {
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BoardConfig.init();
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ins.init(100);
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ahrs.init();
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}
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AP_Int32 unused_log_bitmask;
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struct LogStructure log_structure[1] = {
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};
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const AP_Int32 &get_log_bitmask() override { return unused_log_bitmask; }
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const struct LogStructure *get_log_structures() const override {
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return log_structure;
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}
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uint8_t get_num_log_structures() const override {
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return 0;
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}
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};
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static DummyVehicle vehicle;
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// choose which AHRS system to use
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// AP_AHRS_DCM ahrs = AP_AHRS_DCM::create(barometer, gps);
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auto &ahrs = vehicle.ahrs;
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void setup(void)
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{
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vehicle.init();
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serial_manager.init();
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AP::compass().init();
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if (!AP::compass().read()) {
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hal.console->printf("No compass detected\n");
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}
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AP::gps().init(serial_manager);
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}
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void loop(void)
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{
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static uint16_t counter;
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static uint32_t last_t, last_print, last_compass;
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uint32_t now = AP_HAL::micros();
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float heading = 0;
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if (last_t == 0) {
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last_t = now;
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return;
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}
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last_t = now;
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if (now - last_compass > 100 * 1000UL &&
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AP::compass().read()) {
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heading = AP::compass().calculate_heading(ahrs.get_rotation_body_to_ned());
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// read compass at 10Hz
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last_compass = now;
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}
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ahrs.update();
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counter++;
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if (now - last_print >= 100000 /* 100ms : 10hz */) {
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Vector3f drift = ahrs.get_gyro_drift();
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hal.console->printf(
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"r:%4.1f p:%4.1f y:%4.1f "
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"drift=(%5.1f %5.1f %5.1f) hdg=%.1f rate=%.1f\n",
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(double)ToDeg(ahrs.get_roll()),
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(double)ToDeg(ahrs.get_pitch()),
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(double)ToDeg(ahrs.get_yaw()),
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(double)ToDeg(drift.x),
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(double)ToDeg(drift.y),
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(double)ToDeg(drift.z),
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(double)(AP::compass().use_for_yaw() ? ToDeg(heading) : 0.0f),
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(double)((1.0e6f * counter) / (now-last_print)));
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last_print = now;
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counter = 0;
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}
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}
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const struct AP_Param::GroupInfo GCS_MAVLINK_Parameters::var_info[] = {
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AP_GROUPEND
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};
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GCS_Dummy _gcs;
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AP_HAL_MAIN();
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