mirror of https://github.com/ArduPilot/ardupilot
105 lines
2.9 KiB
C++
105 lines
2.9 KiB
C++
/*
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This program is free software: you can redistribute it and/or modify
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it under the terms of the GNU General Public License as published by
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the Free Software Foundation, either version 3 of the License, or
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(at your option) any later version.
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This program is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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GNU General Public License for more details.
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You should have received a copy of the GNU General Public License
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along with this program. If not, see <http://www.gnu.org/licenses/>.
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*/
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/*
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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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#include <GCS_MAVLink/GCS_Dummy.h>
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const AP_HAL::HAL &hal = AP_HAL::get_HAL();
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// create barometer object
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static AP_Baro barometer;
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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;
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void setup();
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void loop();
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// to be called only once on boot for initializing objects
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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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// initialize the barometer
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barometer.init();
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barometer.calibrate();
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// set up timer to count time in microseconds
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timer = AP_HAL::micros();
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}
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// loop
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void loop()
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{
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// terminate program if console fails to initialize
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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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//calculate time taken for barometer readings to 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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//output barometer readings to console
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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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(unsigned)read_time);
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} else {
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// if stipulated time has not passed between two distinct readings, delay the program for a millisecond
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hal.scheduler->delay(1);
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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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