mirror of https://github.com/ArduPilot/ardupilot
510 lines
14 KiB
C++
510 lines
14 KiB
C++
// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
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#include "Rover.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_Common for implementation details
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static const struct Menu::command test_menu_commands[] = {
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{"pwm", MENU_FUNC(test_radio_pwm)},
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{"radio", MENU_FUNC(test_radio)},
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{"passthru", MENU_FUNC(test_passthru)},
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{"failsafe", MENU_FUNC(test_failsafe)},
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{"relay", MENU_FUNC(test_relay)},
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{"waypoints", MENU_FUNC(test_wp)},
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{"modeswitch", MENU_FUNC(test_modeswitch)},
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// Tests below here are for hardware sensors only present
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// when real sensors are attached or they are emulated
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{"gps", MENU_FUNC(test_gps)},
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{"ins", MENU_FUNC(test_ins)},
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{"sonartest", MENU_FUNC(test_sonar)},
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{"compass", MENU_FUNC(test_mag)},
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{"logging", MENU_FUNC(test_logging)},
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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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};
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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 Rover::test_mode(uint8_t argc, const Menu::arg *argv)
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{
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cliSerial->printf("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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void Rover::print_hit_enter()
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{
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cliSerial->printf("Hit Enter to exit.\n\n");
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}
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int8_t Rover::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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cliSerial->printf("IN:\t1: %d\t2: %d\t3: %d\t4: %d\t5: %d\t6: %d\t7: %d\t8: %d\n",
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channel_steer->radio_in,
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g.rc_2.radio_in,
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channel_throttle->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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int8_t Rover::test_passthru(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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// New radio frame? (we could use also if((millis()- timer) > 20)
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if (hal.rcin->new_input()) {
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cliSerial->print("CH:");
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for(int i = 0; i < 8; i++){
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cliSerial->print(hal.rcin->read(i)); // Print channel values
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cliSerial->print(",");
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hal.rcout->write(i, hal.rcin->read(i)); // Copy input to Servos
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}
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cliSerial->println();
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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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int8_t Rover::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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// read the radio to set trims
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// ---------------------------
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trim_radio();
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while(1){
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delay(20);
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read_radio();
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channel_steer->calc_pwm();
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channel_throttle->calc_pwm();
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// write out the servo PWM values
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// ------------------------------
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set_servos();
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cliSerial->printf("IN 1: %d\t2: %d\t3: %d\t4: %d\t5: %d\t6: %d\t7: %d\t8: %d\n",
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channel_steer->control_in,
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g.rc_2.control_in,
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channel_throttle->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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g.rc_8.control_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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int8_t Rover::test_failsafe(uint8_t argc, const Menu::arg *argv)
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{
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uint8_t fail_test;
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print_hit_enter();
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for(int 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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// read the radio to set trims
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// ---------------------------
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trim_radio();
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oldSwitchPosition = readSwitch();
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cliSerial->printf("Unplug battery, throttle in neutral, turn off radio.\n");
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while(channel_throttle->control_in > 0){
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delay(20);
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read_radio();
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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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if(channel_throttle->control_in > 0){
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cliSerial->printf("THROTTLE CHANGED %d \n", channel_throttle->control_in);
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fail_test++;
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}
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if (oldSwitchPosition != readSwitch()){
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cliSerial->printf("CONTROL MODE CHANGED: ");
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print_mode(cliSerial, readSwitch());
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cliSerial->println();
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fail_test++;
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}
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if(throttle_failsafe_active()) {
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cliSerial->printf("THROTTLE FAILSAFE ACTIVATED: %d, ", channel_throttle->radio_in);
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print_mode(cliSerial, readSwitch());
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cliSerial->println();
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fail_test++;
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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("LOS caused no change in APM.\n");
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return (0);
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}
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}
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}
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int8_t Rover::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("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("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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int8_t Rover::test_wp(uint8_t argc, const Menu::arg *argv)
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{
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delay(1000);
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cliSerial->printf("%u waypoints\n", (unsigned)mission.num_commands());
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cliSerial->printf("Hit radius: %f\n", g.waypoint_radius.get());
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for(uint8_t i = 0; i < mission.num_commands(); i++){
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AP_Mission::Mission_Command temp_cmd;
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if (mission.read_cmd_from_storage(i,temp_cmd)) {
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test_wp_print(temp_cmd);
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}
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}
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return (0);
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}
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void Rover::test_wp_print(const AP_Mission::Mission_Command& cmd)
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{
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cliSerial->printf("command #: %d id:%d options:%d p1:%d p2:%ld p3:%ld p4:%ld \n",
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(int)cmd.index,
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(int)cmd.id,
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(int)cmd.content.location.options,
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(int)cmd.p1,
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(long)cmd.content.location.alt,
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(long)cmd.content.location.lat,
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(long)cmd.content.location.lng);
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}
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int8_t Rover::test_modeswitch(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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cliSerial->printf("Control CH ");
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cliSerial->println(MODE_CHANNEL, BASE_DEC);
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while(1){
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delay(20);
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uint8_t switchPosition = readSwitch();
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if (oldSwitchPosition != switchPosition){
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cliSerial->printf("Position %d\n", switchPosition);
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oldSwitchPosition = switchPosition;
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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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test the dataflash is working
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*/
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int8_t Rover::test_logging(uint8_t argc, const Menu::arg *argv)
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{
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cliSerial->println("Testing dataflash logging");
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DataFlash.ShowDeviceInfo(cliSerial);
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return 0;
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}
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//-------------------------------------------------------------------------------------------
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// tests in this section are for real sensors or sensors that have been simulated
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int8_t Rover::test_gps(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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uint32_t last_message_time_ms = 0;
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while(1) {
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delay(100);
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gps.update();
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if (gps.last_message_time_ms() != last_message_time_ms) {
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last_message_time_ms = gps.last_message_time_ms();
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const Location &loc = gps.location();
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cliSerial->printf("Lat: %ld, Lon %ld, Alt: %ldm, #sats: %d\n",
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(long)loc.lat,
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(long)loc.lng,
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(long)loc.alt/100,
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(int)gps.num_sats());
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} else {
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cliSerial->printf(".");
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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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int8_t Rover::test_ins(uint8_t argc, const Menu::arg *argv)
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{
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//cliSerial->printf("Calibrating.");
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ahrs.init();
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ahrs.set_fly_forward(true);
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ins.init(ins_sample_rate);
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ahrs.reset();
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print_hit_enter();
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delay(1000);
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uint8_t medium_loopCounter = 0;
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while(1){
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ins.wait_for_sample();
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ahrs.update();
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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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compass.read();
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medium_loopCounter = 0;
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}
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}
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// We are using the IMU
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// ---------------------
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Vector3f gyros = ins.get_gyro();
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Vector3f accels = ins.get_accel();
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cliSerial->printf("r:%4d p:%4d y:%3d g=(%5.1f %5.1f %5.1f) a=(%5.1f %5.1f %5.1f)\n",
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(int)ahrs.roll_sensor / 100,
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(int)ahrs.pitch_sensor / 100,
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(uint16_t)ahrs.yaw_sensor / 100,
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(double)gyros.x, (double)gyros.y, (double)gyros.z,
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(double)accels.x, (double)accels.y, (double)accels.z);
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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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void Rover::print_enabled(bool b)
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{
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if(b)
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cliSerial->printf("en");
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else
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cliSerial->printf("dis");
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cliSerial->printf("abled\n");
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}
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int8_t Rover::test_mag(uint8_t argc, const Menu::arg *argv)
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{
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if (!g.compass_enabled) {
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cliSerial->printf("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("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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// we need the AHRS initialised for this test
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ins.init(ins_sample_rate);
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ahrs.reset();
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int counter = 0;
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float heading = 0;
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print_hit_enter();
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uint8_t medium_loopCounter = 0;
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while(1) {
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ins.wait_for_sample();
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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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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("Heading: %d, 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, (double)mag.y, (double)mag.z,
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(double)mag_ofs.x, (double)mag_ofs.y, (double)mag_ofs.z);
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} else {
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cliSerial->println("compass not healthy");
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}
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counter=0;
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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("saving offsets");
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compass.save_offsets();
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return (0);
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}
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//-------------------------------------------------------------------------------------------
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// real sensors that have not been simulated yet go here
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int8_t Rover::test_sonar(uint8_t argc, const Menu::arg *argv)
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{
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init_sonar();
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delay(20);
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sonar.update();
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if (sonar.status() == RangeFinder::RangeFinder_NotConnected) {
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cliSerial->println("WARNING: Sonar is not enabled");
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}
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print_hit_enter();
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float sonar_dist_cm_min = 0.0f;
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float sonar_dist_cm_max = 0.0f;
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float voltage_min=0.0f, voltage_max = 0.0f;
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float sonar2_dist_cm_min = 0.0f;
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float sonar2_dist_cm_max = 0.0f;
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float voltage2_min=0.0f, voltage2_max = 0.0f;
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uint32_t last_print = 0;
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while (true) {
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delay(20);
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sonar.update();
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uint32_t now = millis();
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float dist_cm = sonar.distance_cm(0);
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float voltage = sonar.voltage_mv(0);
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if (is_zero(sonar_dist_cm_min)) {
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sonar_dist_cm_min = dist_cm;
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voltage_min = voltage;
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}
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sonar_dist_cm_max = max(sonar_dist_cm_max, dist_cm);
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sonar_dist_cm_min = min(sonar_dist_cm_min, dist_cm);
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voltage_min = min(voltage_min, voltage);
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voltage_max = max(voltage_max, voltage);
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dist_cm = sonar.distance_cm(1);
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voltage = sonar.voltage_mv(1);
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if (is_zero(sonar2_dist_cm_min)) {
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sonar2_dist_cm_min = dist_cm;
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voltage2_min = voltage;
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}
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sonar2_dist_cm_max = max(sonar2_dist_cm_max, dist_cm);
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sonar2_dist_cm_min = min(sonar2_dist_cm_min, dist_cm);
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voltage2_min = min(voltage2_min, voltage);
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voltage2_max = max(voltage2_max, voltage);
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if (now - last_print >= 200) {
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cliSerial->printf("sonar1 dist=%.1f:%.1fcm volt1=%.2f:%.2f sonar2 dist=%.1f:%.1fcm volt2=%.2f:%.2f\n",
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(double)sonar_dist_cm_min,
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(double)sonar_dist_cm_max,
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(double)voltage_min,
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(double)voltage_max,
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(double)sonar2_dist_cm_min,
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(double)sonar2_dist_cm_max,
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(double)voltage2_min,
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(double)voltage2_max);
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voltage_min = voltage_max = 0.0f;
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voltage2_min = voltage2_max = 0.0f;
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sonar_dist_cm_min = sonar_dist_cm_max = 0.0f;
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sonar2_dist_cm_min = sonar2_dist_cm_max = 0.0f;
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last_print = now;
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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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return (0);
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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 Rover::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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#endif // CLI_ENABLED
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