ardupilot/libraries/AP_AHRS/examples/AHRS_Test/AHRS_Test.pde

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// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: t -*-
//
// Simple test for the AP_AHRS interface
//
#include <FastSerial.h>
#include <SPI.h>
#include <I2C.h>
#include <Arduino_Mega_ISR_Registry.h>
#include <AP_PeriodicProcess.h>
#include <AP_InertialSensor.h>
#include <AP_ADC.h>
#include <AP_IMU.h>
#include <AP_GPS.h>
#include <AP_AHRS.h>
#include <AP_Math.h>
#include <AP_Common.h>
#include <AP_Compass.h>
#include <AP_Baro.h>
#include <DataFlash.h>
#include <APM_RC.h>
#include <GCS_MAVLink.h>
#include <Filter.h>
// uncomment this for a APM2 board
#define APM2_HARDWARE
#define WITH_GPS 0
FastSerialPort0(Serial);
FastSerialPort1(Serial1);
Arduino_Mega_ISR_Registry isr_registry;
AP_TimerProcess scheduler;
#ifdef DESKTOP_BUILD
AP_Compass_HIL compass;
#else
AP_Compass_HMC5843 compass;
#endif
#ifdef APM2_HARDWARE
AP_InertialSensor_MPU6000 ins( 53 );
# else
AP_ADC_ADS7844 adc;
AP_InertialSensor_Oilpan ins( &adc );
#endif
static GPS *g_gps;
AP_GPS_Auto g_gps_driver(&Serial1, &g_gps);
AP_IMU_INS imu(&ins);
// choose which AHRS system to use
AP_AHRS_DCM ahrs(&imu, g_gps);
//AP_AHRS_Quaternion ahrs(&imu, g_gps);
//AP_AHRS_MPU6000 ahrs(&imu, g_gps, &ins); // only works with APM2
AP_Baro_BMP085_HIL barometer;
#ifdef APM2_HARDWARE
# define A_LED_PIN 27
# define C_LED_PIN 25
# define LED_ON LOW
# define LED_OFF HIGH
# define MAG_ORIENTATION AP_COMPASS_APM2_SHIELD
#else
# define A_LED_PIN 37
# define C_LED_PIN 35
# define LED_ON HIGH
# define LED_OFF LOW
# define MAG_ORIENTATION AP_COMPASS_COMPONENTS_DOWN_PINS_FORWARD
#endif
static void flash_leds(bool on)
{
digitalWrite(A_LED_PIN, on ? LED_OFF : LED_ON);
digitalWrite(C_LED_PIN, on ? LED_ON : LED_OFF);
}
void setup(void)
{
Serial.begin(115200);
Serial.println("Starting up...");
#ifndef DESKTOP_BUILD
I2c.begin();
I2c.timeOut(5);
I2c.setSpeed(true);
#endif
SPI.begin();
SPI.setClockDivider(SPI_CLOCK_DIV16);
#ifdef APM2_HARDWARE
// we need to stop the barometer from holding the SPI bus
pinMode(40, OUTPUT);
digitalWrite(40, HIGH);
#endif
isr_registry.init();
scheduler.init(&isr_registry);
imu.init(IMU::COLD_START, delay, flash_leds, &scheduler);
imu.init_accel(delay, flash_leds);
compass.set_orientation(MAG_ORIENTATION);
ahrs.init();
if( compass.init() ) {
Serial.printf("Enabling compass\n");
ahrs.set_compass(&compass);
} else {
Serial.printf("No compass detected\n");
}
g_gps = &g_gps_driver;
#if WITH_GPS
g_gps->init();
#endif
}
void loop(void)
{
static uint16_t counter;
static uint32_t last_t, last_print, last_compass;
uint32_t now = micros();
float heading = 0;
if (last_t == 0) {
last_t = now;
return;
}
last_t = now;
if (now - last_compass > 100*1000UL &&
compass.read()) {
heading = compass.calculate_heading(ahrs.get_dcm_matrix());
// read compass at 10Hz
last_compass = now;
#if WITH_GPS
g_gps->update();
#endif
}
ahrs.update();
counter++;
if (now - last_print >= 0.5e6) {
Vector3f drift = ahrs.get_gyro_drift();
Serial.printf_P(PSTR("r:%4.1f p:%4.1f y:%4.1f drift=(%5.1f %5.1f %5.1f) hdg=%.1f rate=%.1f\n"),
ToDeg(ahrs.roll),
ToDeg(ahrs.pitch),
ToDeg(ahrs.yaw),
ToDeg(drift.x),
ToDeg(drift.y),
ToDeg(drift.z),
compass.use_for_yaw() ? ToDeg(heading) : 0.0,
(1.0e6*counter)/(now-last_print));
last_print = now;
counter = 0;
}
}