mirror of https://github.com/ArduPilot/ardupilot
279 lines
7.8 KiB
C++
279 lines
7.8 KiB
C++
// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
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#include "Copter.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_Coommon for implementation details
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static const struct Menu::command test_menu_commands[] PROGMEM = {
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#if HIL_MODE == HIL_MODE_DISABLED
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{"baro", MENU_FUNC(test_baro)},
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#endif
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{"compass", MENU_FUNC(test_compass)},
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{"ins", MENU_FUNC(test_ins)},
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{"optflow", MENU_FUNC(test_optflow)},
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{"relay", MENU_FUNC(test_relay)},
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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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#if HIL_MODE == HIL_MODE_DISABLED
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{"rangefinder", MENU_FUNC(test_sonar)},
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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 Copter::test_mode(uint8_t argc, const Menu::arg *argv)
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{
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test_menu.run();
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return 0;
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}
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#if HIL_MODE == HIL_MODE_DISABLED
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int8_t Copter::test_baro(uint8_t argc, const Menu::arg *argv)
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{
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print_hit_enter();
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init_barometer(true);
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while(1) {
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delay(100);
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read_barometer();
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if (!barometer.healthy()) {
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cliSerial->println_P(PSTR("not healthy"));
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} else {
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cliSerial->printf_P(PSTR("Alt: %0.2fm, Raw: %f Temperature: %.1f\n"),
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(double)(baro_alt / 100.0f),
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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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return 0;
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}
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#endif
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int8_t Copter::test_compass(uint8_t argc, const Menu::arg *argv)
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{
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uint8_t delta_ms_fast_loop;
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uint8_t medium_loopCounter = 0;
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if (!g.compass_enabled) {
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cliSerial->printf_P(PSTR("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->println_P(PSTR("Compass initialisation failed!"));
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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_compass(&compass);
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#if OPTFLOW == ENABLED
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ahrs.set_optflow(&optflow);
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#endif
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report_compass();
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// we need the AHRS initialised for this test
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ins.init(AP_InertialSensor::COLD_START,
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ins_sample_rate);
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ahrs.reset();
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int16_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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delay(20);
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if (millis() - fast_loopTimer > 19) {
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delta_ms_fast_loop = millis() - fast_loopTimer;
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G_Dt = (float)delta_ms_fast_loop / 1000.0f; // used by DCM integrator
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fast_loopTimer = millis();
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// INS
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// ---
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ahrs.update();
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medium_loopCounter++;
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if(medium_loopCounter == 5) {
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if (compass.read()) {
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// Calculate heading
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const Matrix3f &m = ahrs.get_dcm_matrix();
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heading = compass.calculate_heading(m);
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compass.learn_offsets();
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}
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medium_loopCounter = 0;
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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_P(PSTR("Heading: %ld, XYZ: %.0f, %.0f, %.0f,\tXYZoff: %6.2f, %6.2f, %6.2f\n"),
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(wrap_360_cd(ToDeg(heading) * 100)) /100,
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(double)mag.x,
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(double)mag.y,
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(double)mag.z,
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(double)mag_ofs.x,
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(double)mag_ofs.y,
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(double)mag_ofs.z);
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} else {
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cliSerial->println_P(PSTR("compass not healthy"));
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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->println_P(PSTR("saving offsets"));
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compass.save_offsets();
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return (0);
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}
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int8_t Copter::test_ins(uint8_t argc, const Menu::arg *argv)
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{
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Vector3f gyro, accel;
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print_hit_enter();
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cliSerial->printf_P(PSTR("INS\n"));
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delay(1000);
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ahrs.init();
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ins.init(AP_InertialSensor::COLD_START,
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ins_sample_rate);
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cliSerial->printf_P(PSTR("...done\n"));
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delay(50);
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while(1) {
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ins.update();
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gyro = ins.get_gyro();
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accel = ins.get_accel();
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float test = accel.length() / GRAVITY_MSS;
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cliSerial->printf_P(PSTR("a %7.4f %7.4f %7.4f g %7.4f %7.4f %7.4f t %7.4f \n"),
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(double)accel.x, (double)accel.y, (double)accel.z,
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(double)gyro.x, (double)gyro.y, (double)gyro.z,
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(double)test);
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delay(40);
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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 Copter::test_optflow(uint8_t argc, const Menu::arg *argv)
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{
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#if OPTFLOW == ENABLED
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if(optflow.enabled()) {
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cliSerial->printf_P(PSTR("dev id: %d\t"),(int)optflow.device_id());
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print_hit_enter();
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while(1) {
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delay(200);
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optflow.update();
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const Vector2f& flowRate = optflow.flowRate();
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cliSerial->printf_P(PSTR("flowX : %7.4f\t flowY : %7.4f\t flow qual : %d\n"),
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(double)flowRate.x,
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(double)flowRate.y,
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(int)optflow.quality());
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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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} else {
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cliSerial->printf_P(PSTR("OptFlow: "));
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print_enabled(false);
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}
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return (0);
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#else
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return (0);
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#endif // OPTFLOW == ENABLED
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}
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int8_t Copter::test_relay(uint8_t argc, const Menu::arg *argv)
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{
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print_hit_enter();
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delay(1000);
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while(1) {
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cliSerial->printf_P(PSTR("Relay on\n"));
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relay.on(0);
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delay(3000);
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if(cliSerial->available() > 0) {
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return (0);
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}
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cliSerial->printf_P(PSTR("Relay off\n"));
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relay.off(0);
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delay(3000);
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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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#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 Copter::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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#if HIL_MODE == HIL_MODE_DISABLED
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/*
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* test the rangefinders
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*/
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int8_t Copter::test_sonar(uint8_t argc, const Menu::arg *argv)
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{
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#if CONFIG_SONAR == ENABLED
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sonar.init();
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cliSerial->printf_P(PSTR("RangeFinder: %d devices detected\n"), sonar.num_sensors());
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print_hit_enter();
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while(1) {
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delay(100);
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sonar.update();
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cliSerial->printf_P(PSTR("Primary: status %d distance_cm %d \n"), (int)sonar.status(), sonar.distance_cm());
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cliSerial->printf_P(PSTR("All: device_0 type %d status %d distance_cm %d, device_1 type %d status %d distance_cm %d\n"),
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(int)sonar._type[0], (int)sonar.status(0), sonar.distance_cm(0), (int)sonar._type[1], (int)sonar.status(1), sonar.distance_cm(1));
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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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#endif
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return (0);
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}
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#endif
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void Copter::print_hit_enter()
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{
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cliSerial->printf_P(PSTR("Hit Enter to exit.\n\n"));
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}
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#endif // CLI_ENABLED
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