mirror of https://github.com/ArduPilot/ardupilot
1080 lines
34 KiB
Plaintext
1080 lines
34 KiB
Plaintext
// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
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#if CLI_ENABLED == ENABLED
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// These are function definitions so the Menu can be constructed before the functions
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// are defined below. Order matters to the compiler.
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static int8_t test_radio_pwm(uint8_t argc, const Menu::arg *argv);
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static int8_t test_radio(uint8_t argc, const Menu::arg *argv);
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//static int8_t test_failsafe(uint8_t argc, const Menu::arg *argv);
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//static int8_t test_stabilize(uint8_t argc, const Menu::arg *argv);
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static int8_t test_gps(uint8_t argc, const Menu::arg *argv);
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//static int8_t test_tri(uint8_t argc, const Menu::arg *argv);
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//static int8_t test_adc(uint8_t argc, const Menu::arg *argv);
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static int8_t test_ins(uint8_t argc, const Menu::arg *argv);
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//static int8_t test_imu(uint8_t argc, const Menu::arg *argv);
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//static int8_t test_dcm_eulers(uint8_t argc, const Menu::arg *argv);
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//static int8_t test_dcm(uint8_t argc, const Menu::arg *argv);
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//static int8_t test_omega(uint8_t argc, const Menu::arg *argv);
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//static int8_t test_stab_d(uint8_t argc, const Menu::arg *argv);
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static int8_t test_battery(uint8_t argc, const Menu::arg *argv);
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//static int8_t test_toy(uint8_t argc, const Menu::arg *argv);
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static int8_t test_wp_nav(uint8_t argc, const Menu::arg *argv);
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//static int8_t test_reverse(uint8_t argc, const Menu::arg *argv);
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static int8_t test_tuning(uint8_t argc, const Menu::arg *argv);
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static int8_t test_relay(uint8_t argc, const Menu::arg *argv);
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static int8_t test_wp(uint8_t argc, const Menu::arg *argv);
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#if HIL_MODE != HIL_MODE_ATTITUDE && HIL_MODE != HIL_MODE_SENSORS
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static int8_t test_baro(uint8_t argc, const Menu::arg *argv);
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static int8_t test_sonar(uint8_t argc, const Menu::arg *argv);
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#endif
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static int8_t test_mag(uint8_t argc, const Menu::arg *argv);
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static int8_t test_optflow(uint8_t argc, const Menu::arg *argv);
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static int8_t test_logging(uint8_t argc, const Menu::arg *argv);
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//static int8_t test_xbee(uint8_t argc, const Menu::arg *argv);
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static int8_t test_eedump(uint8_t argc, const Menu::arg *argv);
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//static int8_t test_rawgps(uint8_t argc, const Menu::arg *argv);
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//static int8_t test_mission(uint8_t argc, const Menu::arg *argv);
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#if CONFIG_HAL_BOARD == HAL_BOARD_PX4
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static int8_t test_shell(uint8_t argc, const Menu::arg *argv);
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#endif
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// this is declared here to remove compiler errors
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extern void print_latlon(AP_HAL::BetterStream *s, int32_t lat_or_lon); // in Log.pde
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// This is the help function
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// PSTR is an AVR macro to read strings from flash memory
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// printf_P is a version of printf that reads from flash memory
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/*static int8_t help_test(uint8_t argc, const Menu::arg *argv)
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* {
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* cliSerial->printf_P(PSTR("\n"
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* "Commands:\n"
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* " radio\n"
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* " servos\n"
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* " g_gps\n"
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* " imu\n"
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* " battery\n"
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* "\n"));
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* }*/
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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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const struct Menu::command test_menu_commands[] PROGMEM = {
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{"pwm", test_radio_pwm},
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{"radio", test_radio},
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// {"failsafe", test_failsafe},
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// {"stabilize", test_stabilize},
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{"gps", test_gps},
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// {"adc", test_adc},
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{"ins", test_ins},
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// {"dcm", test_dcm_eulers},
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//{"omega", test_omega},
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// {"stab_d", test_stab_d},
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{"battery", test_battery},
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{"tune", test_tuning},
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//{"tri", test_tri},
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{"relay", test_relay},
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{"wp", test_wp},
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// {"toy", test_toy},
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#if HIL_MODE != HIL_MODE_ATTITUDE && HIL_MODE != HIL_MODE_SENSORS
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{"altitude", test_baro},
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{"sonar", test_sonar},
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#endif
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{"compass", test_mag},
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{"optflow", test_optflow},
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//{"xbee", test_xbee},
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{"eedump", test_eedump},
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{"logging", test_logging},
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// {"rawgps", test_rawgps},
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// {"mission", test_mission},
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//{"reverse", test_reverse},
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{"nav", test_wp_nav},
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#if CONFIG_HAL_BOARD == HAL_BOARD_PX4
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{"shell", test_shell},
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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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static int8_t
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test_mode(uint8_t argc, const Menu::arg *argv)
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{
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//cliSerial->printf_P(PSTR("Test Mode\n\n"));
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test_menu.run();
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return 0;
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}
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static int8_t
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test_eedump(uint8_t argc, const Menu::arg *argv)
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{
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// hexdump the EEPROM
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for (uint16_t i = 0; i < EEPROM_MAX_ADDR; i += 16) {
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cliSerial->printf_P(PSTR("%04x:"), i);
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for (uint16_t j = 0; j < 16; j++) {
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int b = hal.storage->read_byte(i+j);
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cliSerial->printf_P(PSTR(" %02x"), b);
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}
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cliSerial->println();
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}
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return(0);
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}
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static int8_t
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test_radio_pwm(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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delay(20);
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// Filters radio input - adjust filters in the radio.pde file
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// ----------------------------------------------------------
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read_radio();
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// servo Yaw
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//APM_RC.OutputCh(CH_7, g.rc_4.radio_out);
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cliSerial->printf_P(PSTR("IN: 1: %d\t2: %d\t3: %d\t4: %d\t5: %d\t6: %d\t7: %d\t8: %d\n"),
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g.rc_1.radio_in,
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g.rc_2.radio_in,
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g.rc_3.radio_in,
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g.rc_4.radio_in,
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g.rc_5.radio_in,
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g.rc_6.radio_in,
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g.rc_7.radio_in,
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g.rc_8.radio_in);
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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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/*
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* //static int8_t
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* //test_tri(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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*
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* while(1){
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* delay(20);
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*
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* // Filters radio input - adjust filters in the radio.pde file
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* // ----------------------------------------------------------
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* read_radio();
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* g.rc_4.servo_out = g.rc_4.control_in;
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* g.rc_4.calc_pwm();
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*
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* cliSerial->printf_P(PSTR("input: %d\toutput%d\n"),
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* g.rc_4.control_in,
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* g.rc_4.radio_out);
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*
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* APM_RC.OutputCh(CH_TRI_YAW, g.rc_4.radio_out);
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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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* }*/
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/*
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//static int8_t
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//test_toy(uint8_t argc, const Menu::arg *argv)
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{
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set_alt_change(ASCENDING)
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for(altitude_error = 2000; altitude_error > -100; altitude_error--){
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int16_t temp = get_desired_climb_rate();
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cliSerial->printf("%ld, %d\n", altitude_error, temp);
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}
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return 0;
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}
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{ wp_distance = 0;
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int16_t max_speed = 0;
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for(int16_t i = 0; i < 200; i++){
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int32_t temp = 2 * 100 * (wp_distance - g.waypoint_radius * 100);
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max_speed = sqrtf((float)temp);
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max_speed = min(max_speed, g.waypoint_speed_max);
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cliSerial->printf("Zspeed: %ld, %d, %ld\n", temp, max_speed, wp_distance);
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wp_distance += 100;
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}
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return 0;
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}
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//*/
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/*static int8_t
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* //test_toy(uint8_t argc, const Menu::arg *argv)
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* {
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* int16_t yaw_rate;
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* int16_t roll_rate;
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* g.rc_1.control_in = -2500;
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* g.rc_2.control_in = 2500;
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*
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* g.toy_yaw_rate = 3;
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* yaw_rate = g.rc_1.control_in / g.toy_yaw_rate;
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* roll_rate = ((int32_t)g.rc_2.control_in * (yaw_rate/100)) /40;
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* cliSerial->printf("yaw_rate, %d, roll_rate, %d\n", yaw_rate, roll_rate);
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*
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* g.toy_yaw_rate = 2;
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* yaw_rate = g.rc_1.control_in / g.toy_yaw_rate;
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* roll_rate = ((int32_t)g.rc_2.control_in * (yaw_rate/100)) /40;
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* cliSerial->printf("yaw_rate, %d, roll_rate, %d\n", yaw_rate, roll_rate);
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*
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* g.toy_yaw_rate = 1;
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* yaw_rate = g.rc_1.control_in / g.toy_yaw_rate;
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* roll_rate = ((int32_t)g.rc_2.control_in * (yaw_rate/100)) /40;
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* cliSerial->printf("yaw_rate, %d, roll_rate, %d\n", yaw_rate, roll_rate);
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* }*/
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static int8_t
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test_radio(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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delay(20);
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read_radio();
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cliSerial->printf_P(PSTR("IN 1: %d\t2: %d\t3: %d\t4: %d\t5: %d\t6: %d\t7: %d\n"),
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g.rc_1.control_in,
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g.rc_2.control_in,
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g.rc_3.control_in,
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g.rc_4.control_in,
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g.rc_5.control_in,
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g.rc_6.control_in,
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g.rc_7.control_in);
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//cliSerial->printf_P(PSTR("OUT 1: %d\t2: %d\t3: %d\t4: %d\n"), (g.rc_1.servo_out / 100), (g.rc_2.servo_out / 100), g.rc_3.servo_out, (g.rc_4.servo_out / 100));
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/*cliSerial->printf_P(PSTR( "min: %d"
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* "\t in: %d"
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* "\t pwm_in: %d"
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* "\t sout: %d"
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* "\t pwm_out %d\n"),
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* g.rc_3.radio_min,
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* g.rc_3.control_in,
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* g.rc_3.radio_in,
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* g.rc_3.servo_out,
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* g.rc_3.pwm_out
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* );
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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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}
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/*
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* //static int8_t
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* //test_failsafe(uint8_t argc, const Menu::arg *argv)
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* {
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*
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* #if THROTTLE_FAILSAFE
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* byte fail_test;
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* print_hit_enter();
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* for(int16_t i = 0; i < 50; i++){
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* delay(20);
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* read_radio();
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* }
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*
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* oldSwitchPosition = readSwitch();
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*
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* cliSerial->printf_P(PSTR("Unplug battery, throttle in neutral, turn off radio.\n"));
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* while(g.rc_3.control_in > 0){
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* delay(20);
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* read_radio();
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* }
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*
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* while(1){
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* delay(20);
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* read_radio();
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*
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* if(g.rc_3.control_in > 0){
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* cliSerial->printf_P(PSTR("THROTTLE CHANGED %d \n"), g.rc_3.control_in);
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* fail_test++;
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* }
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*
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* if(oldSwitchPosition != readSwitch()){
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* cliSerial->printf_P(PSTR("CONTROL MODE CHANGED: "));
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* cliSerial->println(flight_mode_strings[readSwitch()]);
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* fail_test++;
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* }
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*
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* if(g.failsafe_throttle && g.rc_3.get_failsafe()){
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* cliSerial->printf_P(PSTR("THROTTLE FAILSAFE ACTIVATED: %d, "), g.rc_3.radio_in);
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* cliSerial->println(flight_mode_strings[readSwitch()]);
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* fail_test++;
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* }
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*
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* if(fail_test > 0){
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* return (0);
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* }
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* if(cliSerial->available() > 0){
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* cliSerial->printf_P(PSTR("LOS caused no change in ACM.\n"));
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* return (0);
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* }
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* }
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* #else
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* return (0);
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* #endif
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* }
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*/
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/*
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* //static int8_t
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* //test_stabilize(uint8_t argc, const Menu::arg *argv)
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* {
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* static byte ts_num;
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*
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*
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* print_hit_enter();
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* delay(1000);
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*
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* // setup the radio
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* // ---------------
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* init_rc_in();
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*
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* control_mode = STABILIZE;
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* cliSerial->printf_P(PSTR("g.pi_stabilize_roll.kP: %4.4f\n"), g.pi_stabilize_roll.kP());
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* cliSerial->printf_P(PSTR("max_stabilize_dampener:%d\n\n "), max_stabilize_dampener);
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*
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* motors.auto_armed(false);
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* motors.armed(true);
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*
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* while(1){
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* // 50 hz
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* if (millis() - fast_loopTimer > 19) {
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* delta_ms_fast_loop = millis() - fast_loopTimer;
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* fast_loopTimer = millis();
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* G_Dt = (float)delta_ms_fast_loop / 1000.f;
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*
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* if(g.compass_enabled){
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* medium_loopCounter++;
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* if(medium_loopCounter == 5){
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* Matrix3f m = dcm.get_dcm_matrix();
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* compass.read(); // Read magnetometer
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* compass.null_offsets();
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* medium_loopCounter = 0;
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* }
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* }
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*
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* // for trim features
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* read_trim_switch();
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*
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* // Filters radio input - adjust filters in the radio.pde file
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* // ----------------------------------------------------------
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* read_radio();
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*
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* // IMU
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* // ---
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* read_AHRS();
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*
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* // allow us to zero out sensors with control switches
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* if(g.rc_5.control_in < 600){
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* dcm.roll_sensor = dcm.pitch_sensor = 0;
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* }
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*
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* // custom code/exceptions for flight modes
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* // ---------------------------------------
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* update_current_flight_mode();
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*
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* // write out the servo PWM values
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* // ------------------------------
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* set_servos_4();
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*
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* ts_num++;
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* if (ts_num > 10){
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* ts_num = 0;
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* cliSerial->printf_P(PSTR("r: %d, p:%d, rc1:%d, "),
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* (int)(dcm.roll_sensor/100),
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* (int)(dcm.pitch_sensor/100),
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* g.rc_1.pwm_out);
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*
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* print_motor_out();
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* }
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* // R: 1417, L: 1453 F: 1453 B: 1417
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*
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* //cliSerial->printf_P(PSTR("timer: %d, r: %d\tp: %d\t y: %d\n"), (int)delta_ms_fast_loop, ((int)dcm.roll_sensor/100), ((int)dcm.pitch_sensor/100), ((uint16_t)dcm.yaw_sensor/100));
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* //cliSerial->printf_P(PSTR("timer: %d, r: %d\tp: %d\t y: %d\n"), (int)delta_ms_fast_loop, ((int)dcm.roll_sensor/100), ((int)dcm.pitch_sensor/100), ((uint16_t)dcm.yaw_sensor/100));
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*
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* if(cliSerial->available() > 0){
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* if(g.compass_enabled){
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* compass.save_offsets();
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* report_compass();
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* }
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* return (0);
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* }
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*
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* }
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* }
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* }
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*/
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/*
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* #if HIL_MODE != HIL_MODE_ATTITUDE && CONFIG_ADC == ENABLED
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* //static int8_t
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* //test_adc(uint8_t argc, const Menu::arg *argv)
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* {
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* print_hit_enter();
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* cliSerial->printf_P(PSTR("ADC\n"));
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* delay(1000);
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*
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* adc.Init(&timer_scheduler);
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*
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* delay(50);
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*
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* while(1){
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* for(int16_t i = 0; i < 9; i++){
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* cliSerial->printf_P(PSTR("%.1f,"),adc.Ch(i));
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* }
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* cliSerial->println();
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* delay(20);
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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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* #endif
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*/
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static int8_t
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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();
|
|
ins.init(AP_InertialSensor::COLD_START,
|
|
ins_sample_rate,
|
|
flash_leds);
|
|
|
|
delay(50);
|
|
|
|
while(1) {
|
|
ins.update();
|
|
gyro = ins.get_gyro();
|
|
accel = ins.get_accel();
|
|
|
|
float test = accel.length() / GRAVITY_MSS;
|
|
|
|
cliSerial->printf_P(PSTR("a %7.4f %7.4f %7.4f g %7.4f %7.4f %7.4f t %74f | %7.4f\n"),
|
|
accel.x, accel.y, accel.z,
|
|
gyro.x, gyro.y, gyro.z,
|
|
test);
|
|
|
|
delay(40);
|
|
if(cliSerial->available() > 0) {
|
|
return (0);
|
|
}
|
|
}
|
|
}
|
|
|
|
static int8_t
|
|
test_gps(uint8_t argc, const Menu::arg *argv)
|
|
{
|
|
print_hit_enter();
|
|
delay(1000);
|
|
|
|
while(1) {
|
|
delay(100);
|
|
|
|
// Blink GPS LED if we don't have a fix
|
|
// ------------------------------------
|
|
update_GPS_light();
|
|
|
|
g_gps->update();
|
|
|
|
if (g_gps->new_data) {
|
|
cliSerial->printf_P(PSTR("Lat: "));
|
|
print_latlon(cliSerial, g_gps->latitude);
|
|
cliSerial->printf_P(PSTR(", Lon "));
|
|
print_latlon(cliSerial, g_gps->longitude);
|
|
cliSerial->printf_P(PSTR(", Alt: %ldm, #sats: %d\n"),
|
|
g_gps->altitude/100,
|
|
g_gps->num_sats);
|
|
g_gps->new_data = false;
|
|
}else{
|
|
cliSerial->print_P(PSTR("."));
|
|
}
|
|
if(cliSerial->available() > 0) {
|
|
return (0);
|
|
}
|
|
}
|
|
return 0;
|
|
}
|
|
|
|
/*
|
|
* //static int8_t
|
|
* //test_dcm(uint8_t argc, const Menu::arg *argv)
|
|
* {
|
|
* print_hit_enter();
|
|
* delay(1000);
|
|
* cliSerial->printf_P(PSTR("Gyro | Accel\n"));
|
|
* Vector3f _cam_vector;
|
|
* Vector3f _out_vector;
|
|
*
|
|
* G_Dt = .02;
|
|
*
|
|
* while(1){
|
|
* for(byte i = 0; i <= 50; i++){
|
|
* delay(20);
|
|
* // IMU
|
|
* // ---
|
|
* read_AHRS();
|
|
* }
|
|
*
|
|
* Matrix3f temp = dcm.get_dcm_matrix();
|
|
* Matrix3f temp_t = dcm.get_dcm_transposed();
|
|
*
|
|
* cliSerial->printf_P(PSTR("dcm\n"
|
|
* "%4.4f \t %4.4f \t %4.4f \n"
|
|
* "%4.4f \t %4.4f \t %4.4f \n"
|
|
* "%4.4f \t %4.4f \t %4.4f \n\n"),
|
|
* temp.a.x, temp.a.y, temp.a.z,
|
|
* temp.b.x, temp.b.y, temp.b.z,
|
|
* temp.c.x, temp.c.y, temp.c.z);
|
|
*
|
|
* int16_t _pitch = degrees(-asin(temp.c.x));
|
|
* int16_t _roll = degrees(atan2f(temp.c.y, temp.c.z));
|
|
* int16_t _yaw = degrees(atan2f(temp.b.x, temp.a.x));
|
|
* cliSerial->printf_P(PSTR( "angles\n"
|
|
* "%d \t %d \t %d\n\n"),
|
|
* _pitch,
|
|
* _roll,
|
|
* _yaw);
|
|
*
|
|
* //_out_vector = _cam_vector * temp;
|
|
* //cliSerial->printf_P(PSTR( "cam\n"
|
|
* // "%d \t %d \t %d\n\n"),
|
|
* // (int)temp.a.x * 100, (int)temp.a.y * 100, (int)temp.a.x * 100);
|
|
*
|
|
* if(cliSerial->available() > 0){
|
|
* return (0);
|
|
* }
|
|
* }
|
|
* }
|
|
*/
|
|
/*
|
|
* //static int8_t
|
|
* //test_dcm(uint8_t argc, const Menu::arg *argv)
|
|
* {
|
|
* print_hit_enter();
|
|
* delay(1000);
|
|
* cliSerial->printf_P(PSTR("Gyro | Accel\n"));
|
|
* delay(1000);
|
|
*
|
|
* while(1){
|
|
* Vector3f accels = dcm.get_accel();
|
|
* cliSerial->print("accels.z:");
|
|
* cliSerial->print(accels.z);
|
|
* cliSerial->print("omega.z:");
|
|
* cliSerial->print(omega.z);
|
|
* delay(100);
|
|
*
|
|
* if(cliSerial->available() > 0){
|
|
* return (0);
|
|
* }
|
|
* }
|
|
* }
|
|
*/
|
|
|
|
/*static int8_t
|
|
* //test_omega(uint8_t argc, const Menu::arg *argv)
|
|
* {
|
|
* static byte ts_num;
|
|
* float old_yaw;
|
|
*
|
|
* print_hit_enter();
|
|
* delay(1000);
|
|
* cliSerial->printf_P(PSTR("Omega"));
|
|
* delay(1000);
|
|
*
|
|
* G_Dt = .02;
|
|
*
|
|
* while(1){
|
|
* delay(20);
|
|
* // IMU
|
|
* // ---
|
|
* read_AHRS();
|
|
*
|
|
* float my_oz = (dcm.yaw - old_yaw) * 50;
|
|
*
|
|
* old_yaw = dcm.yaw;
|
|
*
|
|
* ts_num++;
|
|
* if (ts_num > 2){
|
|
* ts_num = 0;
|
|
* //cliSerial->printf_P(PSTR("R: %4.4f\tP: %4.4f\tY: %4.4f\tY: %4.4f\n"), omega.x, omega.y, omega.z, my_oz);
|
|
* cliSerial->printf_P(PSTR(" Yaw: %ld\tY: %4.4f\tY: %4.4f\n"), dcm.yaw_sensor, omega.z, my_oz);
|
|
* }
|
|
*
|
|
* if(cliSerial->available() > 0){
|
|
* return (0);
|
|
* }
|
|
* }
|
|
* return (0);
|
|
* }
|
|
* //*/
|
|
|
|
static int8_t
|
|
test_tuning(uint8_t argc, const Menu::arg *argv)
|
|
{
|
|
print_hit_enter();
|
|
|
|
while(1) {
|
|
delay(200);
|
|
read_radio();
|
|
tuning();
|
|
cliSerial->printf_P(PSTR("tune: %1.3f\n"), tuning_value);
|
|
|
|
if(cliSerial->available() > 0) {
|
|
return (0);
|
|
}
|
|
}
|
|
}
|
|
|
|
static int8_t
|
|
test_battery(uint8_t argc, const Menu::arg *argv)
|
|
{
|
|
cliSerial->printf_P(PSTR("\nCareful! Motors will spin! Press Enter to start.\n"));
|
|
while (cliSerial->read() != -1); /* flush */
|
|
while(!cliSerial->available()) { /* wait for input */
|
|
delay(100);
|
|
}
|
|
while (cliSerial->read() != -1); /* flush */
|
|
print_hit_enter();
|
|
|
|
// allow motors to spin
|
|
motors.enable();
|
|
motors.armed(true);
|
|
|
|
while(1) {
|
|
delay(100);
|
|
read_radio();
|
|
read_battery();
|
|
if (g.battery_monitoring == BATT_MONITOR_VOLTAGE_ONLY) {
|
|
cliSerial->printf_P(PSTR("V: %4.4f\n"),
|
|
battery_voltage1,
|
|
current_amps1,
|
|
current_total1);
|
|
} else {
|
|
cliSerial->printf_P(PSTR("V: %4.4f, A: %4.4f, Ah: %4.4f\n"),
|
|
battery_voltage1,
|
|
current_amps1,
|
|
current_total1);
|
|
}
|
|
motors.throttle_pass_through();
|
|
|
|
if(cliSerial->available() > 0) {
|
|
motors.armed(false);
|
|
return (0);
|
|
}
|
|
}
|
|
motors.armed(false);
|
|
return (0);
|
|
}
|
|
|
|
static int8_t test_relay(uint8_t argc, const Menu::arg *argv)
|
|
{
|
|
print_hit_enter();
|
|
delay(1000);
|
|
|
|
while(1) {
|
|
cliSerial->printf_P(PSTR("Relay on\n"));
|
|
relay.on();
|
|
delay(3000);
|
|
if(cliSerial->available() > 0) {
|
|
return (0);
|
|
}
|
|
|
|
cliSerial->printf_P(PSTR("Relay off\n"));
|
|
relay.off();
|
|
delay(3000);
|
|
if(cliSerial->available() > 0) {
|
|
return (0);
|
|
}
|
|
}
|
|
}
|
|
|
|
|
|
static int8_t
|
|
test_wp(uint8_t argc, const Menu::arg *argv)
|
|
{
|
|
delay(1000);
|
|
|
|
// save the alitude above home option
|
|
cliSerial->printf_P(PSTR("Hold alt "));
|
|
if(g.rtl_altitude < 0) {
|
|
cliSerial->printf_P(PSTR("\n"));
|
|
}else{
|
|
cliSerial->printf_P(PSTR("of %dm\n"), (int)g.rtl_altitude / 100);
|
|
}
|
|
|
|
cliSerial->printf_P(PSTR("%d wp\n"), (int)g.command_total);
|
|
cliSerial->printf_P(PSTR("Hit rad: %dm\n"), (int)g.waypoint_radius);
|
|
//cliSerial->printf_P(PSTR("Loiter radius: %d\n\n"), (int)g.loiter_radius);
|
|
|
|
report_wp();
|
|
|
|
return (0);
|
|
}
|
|
|
|
//static int8_t test_rawgps(uint8_t argc, const Menu::arg *argv) {
|
|
/*
|
|
* print_hit_enter();
|
|
* delay(1000);
|
|
* while(1){
|
|
* if (Serial3.available()){
|
|
* digitalWrite(B_LED_PIN, LED_ON); // Blink Yellow LED if we are sending data to GPS
|
|
* Serial1.write(Serial3.read());
|
|
* digitalWrite(B_LED_PIN, LED_OFF);
|
|
* }
|
|
* if (Serial1.available()){
|
|
* digitalWrite(C_LED_PIN, LED_ON); // Blink Red LED if we are receiving data from GPS
|
|
* Serial3.write(Serial1.read());
|
|
* digitalWrite(C_LED_PIN, LED_OFF);
|
|
* }
|
|
* if(cliSerial->available() > 0){
|
|
* return (0);
|
|
* }
|
|
* }
|
|
*/
|
|
//}
|
|
|
|
/*static int8_t
|
|
* //test_xbee(uint8_t argc, const Menu::arg *argv)
|
|
* {
|
|
* print_hit_enter();
|
|
* delay(1000);
|
|
* cliSerial->printf_P(PSTR("Begin XBee X-CTU Range and RSSI Test:\n"));
|
|
*
|
|
* while(1){
|
|
* if (Serial3.available())
|
|
* Serial3.write(Serial3.read());
|
|
*
|
|
* if(cliSerial->available() > 0){
|
|
* return (0);
|
|
* }
|
|
* }
|
|
* }
|
|
*/
|
|
|
|
#if HIL_MODE != HIL_MODE_ATTITUDE && HIL_MODE != HIL_MODE_SENSORS
|
|
static int8_t
|
|
test_baro(uint8_t argc, const Menu::arg *argv)
|
|
{
|
|
print_hit_enter();
|
|
init_barometer();
|
|
|
|
while(1) {
|
|
delay(100);
|
|
int32_t alt = read_barometer(); // calls barometer.read()
|
|
|
|
float pres = barometer.get_pressure();
|
|
int16_t temp = barometer.get_temperature();
|
|
int32_t raw_pres = barometer.get_raw_pressure();
|
|
int32_t raw_temp = barometer.get_raw_temp();
|
|
cliSerial->printf_P(PSTR("alt: %ldcm, pres: %fmbar, temp: %d/100degC,"
|
|
" raw pres: %ld, raw temp: %ld\n"),
|
|
(long)alt, pres, (int)temp, (long)raw_pres, (long)raw_temp);
|
|
if(cliSerial->available() > 0) {
|
|
return (0);
|
|
}
|
|
}
|
|
return 0;
|
|
}
|
|
#endif
|
|
|
|
|
|
static int8_t
|
|
test_mag(uint8_t argc, const Menu::arg *argv)
|
|
{
|
|
if(g.compass_enabled) {
|
|
print_hit_enter();
|
|
|
|
while(1) {
|
|
delay(100);
|
|
if (compass.read()) {
|
|
float heading = compass.calculate_heading(ahrs.get_dcm_matrix());
|
|
cliSerial->printf_P(PSTR("Heading: %ld, XYZ: %d, %d, %d\n"),
|
|
(wrap_360_cd(ToDeg(heading) * 100)) /100,
|
|
compass.mag_x,
|
|
compass.mag_y,
|
|
compass.mag_z);
|
|
} else {
|
|
cliSerial->println_P(PSTR("not healthy"));
|
|
}
|
|
|
|
if(cliSerial->available() > 0) {
|
|
return (0);
|
|
}
|
|
}
|
|
} else {
|
|
cliSerial->printf_P(PSTR("Compass: "));
|
|
print_enabled(false);
|
|
return (0);
|
|
}
|
|
return (0);
|
|
}
|
|
|
|
/*
|
|
* //static int8_t
|
|
* //test_reverse(uint8_t argc, const Menu::arg *argv)
|
|
* {
|
|
* print_hit_enter();
|
|
* delay(1000);
|
|
*
|
|
* while(1){
|
|
* delay(20);
|
|
*
|
|
* // Filters radio input - adjust filters in the radio.pde file
|
|
* // ----------------------------------------------------------
|
|
* g.rc_4.set_reverse(0);
|
|
* g.rc_4.set_pwm(APM_RC.InputCh(CH_4));
|
|
* g.rc_4.servo_out = g.rc_4.control_in;
|
|
* g.rc_4.calc_pwm();
|
|
* cliSerial->printf_P(PSTR("PWM:%d input: %d\toutput%d "),
|
|
* APM_RC.InputCh(CH_4),
|
|
* g.rc_4.control_in,
|
|
* g.rc_4.radio_out);
|
|
* APM_RC.OutputCh(CH_6, g.rc_4.radio_out);
|
|
*
|
|
*
|
|
* g.rc_4.set_reverse(1);
|
|
* g.rc_4.set_pwm(APM_RC.InputCh(CH_4));
|
|
* g.rc_4.servo_out = g.rc_4.control_in;
|
|
* g.rc_4.calc_pwm();
|
|
* cliSerial->printf_P(PSTR("\trev input: %d\toutput%d\n"),
|
|
* g.rc_4.control_in,
|
|
* g.rc_4.radio_out);
|
|
*
|
|
* APM_RC.OutputCh(CH_7, g.rc_4.radio_out);
|
|
*
|
|
* if(cliSerial->available() > 0){
|
|
* g.rc_4.set_reverse(0);
|
|
* return (0);
|
|
* }
|
|
* }
|
|
* }*/
|
|
|
|
#if HIL_MODE != HIL_MODE_ATTITUDE && HIL_MODE != HIL_MODE_SENSORS
|
|
/*
|
|
* test the sonar
|
|
*/
|
|
static int8_t
|
|
test_sonar(uint8_t argc, const Menu::arg *argv)
|
|
{
|
|
#if CONFIG_SONAR == ENABLED
|
|
if(g.sonar_enabled == false) {
|
|
cliSerial->printf_P(PSTR("Sonar disabled\n"));
|
|
return (0);
|
|
}
|
|
|
|
// make sure sonar is initialised
|
|
init_sonar();
|
|
|
|
print_hit_enter();
|
|
while(1) {
|
|
delay(100);
|
|
|
|
cliSerial->printf_P(PSTR("Sonar: %d cm\n"), sonar->read());
|
|
|
|
if(cliSerial->available() > 0) {
|
|
return (0);
|
|
}
|
|
}
|
|
#endif
|
|
return (0);
|
|
}
|
|
#endif
|
|
|
|
|
|
static int8_t
|
|
test_optflow(uint8_t argc, const Menu::arg *argv)
|
|
{
|
|
#if OPTFLOW == ENABLED
|
|
if(g.optflow_enabled) {
|
|
cliSerial->printf_P(PSTR("man id: %d\t"),optflow.read_register(ADNS3080_PRODUCT_ID));
|
|
print_hit_enter();
|
|
|
|
while(1) {
|
|
delay(200);
|
|
optflow.update(millis());
|
|
Log_Write_Optflow();
|
|
cliSerial->printf_P(PSTR("x/dx: %d/%d\t y/dy %d/%d\t squal:%d\n"),
|
|
optflow.x,
|
|
optflow.dx,
|
|
optflow.y,
|
|
optflow.dy,
|
|
optflow.surface_quality);
|
|
|
|
if(cliSerial->available() > 0) {
|
|
return (0);
|
|
}
|
|
}
|
|
} else {
|
|
cliSerial->printf_P(PSTR("OptFlow: "));
|
|
print_enabled(false);
|
|
}
|
|
return (0);
|
|
#else
|
|
return (0);
|
|
#endif // OPTFLOW == ENABLED
|
|
}
|
|
|
|
|
|
static int8_t
|
|
test_wp_nav(uint8_t argc, const Menu::arg *argv)
|
|
{
|
|
current_loc.lat = 389539260;
|
|
current_loc.lng = -1199540200;
|
|
|
|
next_WP.lat = 389538528;
|
|
next_WP.lng = -1199541248;
|
|
|
|
// got 23506;, should be 22800
|
|
update_navigation();
|
|
cliSerial->printf_P(PSTR("bear: %ld\n"), wp_bearing);
|
|
return 0;
|
|
}
|
|
|
|
/*
|
|
* test the dataflash is working
|
|
*/
|
|
|
|
static int8_t
|
|
test_logging(uint8_t argc, const Menu::arg *argv)
|
|
{
|
|
cliSerial->println_P(PSTR("Testing dataflash logging"));
|
|
DataFlash.ShowDeviceInfo(cliSerial);
|
|
return 0;
|
|
}
|
|
|
|
|
|
/*
|
|
* static int8_t
|
|
* //test_mission(uint8_t argc, const Menu::arg *argv)
|
|
* {
|
|
* //write out a basic mission to the EEPROM
|
|
*
|
|
* //{
|
|
* // uint8_t id; ///< command id
|
|
* // uint8_t options; ///< options bitmask (1<<0 = relative altitude)
|
|
* // uint8_t p1; ///< param 1
|
|
* // int32_t alt; ///< param 2 - Altitude in centimeters (meters * 100)
|
|
* // int32_t lat; ///< param 3 - Lattitude * 10**7
|
|
* // int32_t lng; ///< param 4 - Longitude * 10**7
|
|
* //}
|
|
*
|
|
* // clear home
|
|
* {Location t = {0, 0, 0, 0, 0, 0};
|
|
* set_cmd_with_index(t,0);}
|
|
*
|
|
* // CMD opt pitch alt/cm
|
|
* {Location t = {MAV_CMD_NAV_TAKEOFF, WP_OPTION_RELATIVE, 0, 100, 0, 0};
|
|
* set_cmd_with_index(t,1);}
|
|
*
|
|
* if (!strcmp_P(argv[1].str, PSTR("wp"))) {
|
|
*
|
|
* // CMD opt
|
|
* {Location t = {MAV_CMD_NAV_WAYPOINT, WP_OPTION_RELATIVE, 15, 0, 0, 0};
|
|
* set_cmd_with_index(t,2);}
|
|
* // CMD opt
|
|
* {Location t = {MAV_CMD_NAV_RETURN_TO_LAUNCH, WP_OPTION_YAW, 0, 0, 0, 0};
|
|
* set_cmd_with_index(t,3);}
|
|
*
|
|
* // CMD opt
|
|
* {Location t = {MAV_CMD_NAV_LAND, 0, 0, 0, 0, 0};
|
|
* set_cmd_with_index(t,4);}
|
|
*
|
|
* } else {
|
|
* //2250 = 25 meteres
|
|
* // CMD opt p1 //alt //NS //WE
|
|
* {Location t = {MAV_CMD_NAV_LOITER_TIME, 0, 10, 0, 0, 0}; // 19
|
|
* set_cmd_with_index(t,2);}
|
|
*
|
|
* // CMD opt dir angle/deg deg/s relative
|
|
* {Location t = {MAV_CMD_CONDITION_YAW, 0, 1, 360, 60, 1};
|
|
* set_cmd_with_index(t,3);}
|
|
*
|
|
* // CMD opt
|
|
* {Location t = {MAV_CMD_NAV_LAND, 0, 0, 0, 0, 0};
|
|
* set_cmd_with_index(t,4);}
|
|
*
|
|
* }
|
|
*
|
|
* g.rtl_altitude.set_and_save(300);
|
|
* g.command_total.set_and_save(4);
|
|
* g.waypoint_radius.set_and_save(3);
|
|
*
|
|
* test_wp(NULL, NULL);
|
|
* return (0);
|
|
* }
|
|
*/
|
|
|
|
|
|
#if CONFIG_HAL_BOARD == HAL_BOARD_PX4
|
|
/*
|
|
* run a debug shell
|
|
*/
|
|
static int8_t
|
|
test_shell(uint8_t argc, const Menu::arg *argv)
|
|
{
|
|
hal.util->run_debug_shell(cliSerial);
|
|
return 0;
|
|
}
|
|
#endif
|
|
|
|
static void print_hit_enter()
|
|
{
|
|
cliSerial->printf_P(PSTR("Hit Enter to exit.\n\n"));
|
|
}
|
|
|
|
/*
|
|
* //static void fake_out_gps()
|
|
* {
|
|
* static float rads;
|
|
* g_gps->new_data = true;
|
|
* g_gps->fix = true;
|
|
*
|
|
* //int length = g.rc_6.control_in;
|
|
* rads += .05;
|
|
*
|
|
* if (rads > 6.28){
|
|
* rads = 0;
|
|
* }
|
|
*
|
|
* g_gps->latitude = 377696000; // Y
|
|
* g_gps->longitude = -1224319000; // X
|
|
* g_gps->altitude = 9000; // meters * 100
|
|
*
|
|
* //next_WP.lng = home.lng - length * sin(rads); // X
|
|
* //next_WP.lat = home.lat + length * cos(rads); // Y
|
|
* }
|
|
*
|
|
*/
|
|
/*
|
|
* //static void print_motor_out(){
|
|
* cliSerial->printf("out: R: %d, L: %d F: %d B: %d\n",
|
|
* (motor_out[CH_1] - g.rc_3.radio_min),
|
|
* (motor_out[CH_2] - g.rc_3.radio_min),
|
|
* (motor_out[CH_3] - g.rc_3.radio_min),
|
|
* (motor_out[CH_4] - g.rc_3.radio_min));
|
|
* }
|
|
*/
|
|
#endif // CLI_ENABLED
|