ardupilot/libraries/AP_Baro/examples/BARO_generic/BARO_generic.cpp

63 lines
1.5 KiB
C++

/*
generic Baro driver test
*/
#include <AP_HAL/AP_HAL.h>
#include <AP_Baro/AP_Baro.h>
#include <AP_BoardConfig/AP_BoardConfig.h>
const AP_HAL::HAL& hal = AP_HAL::get_HAL();
static AP_Baro barometer;
static uint32_t timer;
static uint8_t counter;
void setup()
{
hal.console->println("Barometer library test");
AP_BoardConfig{}.init();
hal.scheduler->delay(1000);
barometer.init();
barometer.calibrate();
timer = AP_HAL::micros();
}
void loop()
{
// run accumulate() at 50Hz and update() at 10Hz
if((AP_HAL::micros() - timer) > 20*1000UL) {
timer = AP_HAL::micros();
barometer.accumulate();
if (counter++ < 5) {
return;
}
counter = 0;
barometer.update();
uint32_t read_time = AP_HAL::micros() - timer;
float alt = barometer.get_altitude();
if (!barometer.healthy()) {
hal.console->println("not healthy");
return;
}
hal.console->print("Pressure:");
hal.console->print(barometer.get_pressure());
hal.console->print(" Temperature:");
hal.console->print(barometer.get_temperature());
hal.console->print(" Altitude:");
hal.console->print(alt);
hal.console->printf(" climb=%.2f t=%u",
barometer.get_climb_rate(),
(unsigned)read_time);
hal.console->println();
} else {
hal.scheduler->delay(1);
}
}
AP_HAL_MAIN();