mirror of https://github.com/ArduPilot/ardupilot
104 lines
2.5 KiB
C++
104 lines
2.5 KiB
C++
//
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// Simple test for the AP_AHRS interface
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//
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#include <AP_ADC/AP_ADC.h>
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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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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_BoardConfig board_config;
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static AP_InertialSensor ins;
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static Compass compass;
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static AP_GPS gps;
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static AP_Baro barometer;
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static AP_SerialManager serial_manager;
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class DummyVehicle {
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public:
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RangeFinder sonar{serial_manager, ROTATION_PITCH_270};
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NavEKF2 EKF2{&ahrs, barometer, sonar};
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NavEKF3 EKF3{&ahrs, barometer, sonar};
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AP_AHRS_NavEKF ahrs{ins, barometer, EKF2, EKF3,
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AP_AHRS_NavEKF::FLAG_ALWAYS_USE_EKF};
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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(ins, barometer, gps);
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AP_AHRS_NavEKF &ahrs = vehicle.ahrs;
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void setup(void)
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{
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board_config.init();
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ins.init(100);
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ahrs.init();
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serial_manager.init();
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if( compass.init() ) {
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hal.console->printf("Enabling compass\n");
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ahrs.set_compass(&compass);
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} else {
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hal.console->printf("No compass detected\n");
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}
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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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compass.read()) {
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heading = 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.roll),
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(double)ToDeg(ahrs.pitch),
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(double)ToDeg(ahrs.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)(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::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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