mirror of https://github.com/ArduPilot/ardupilot
99 lines
2.7 KiB
C++
99 lines
2.7 KiB
C++
/*
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This program is free software: you can redistribute it and/or modify
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it under the terms of the GNU General Public License as published by
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the Free Software Foundation, either version 3 of the License, or
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(at your option) any later version.
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This program is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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GNU General Public License for more details.
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You should have received a copy of the GNU General Public License
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along with this program. If not, see <http://www.gnu.org/licenses/>.
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*/
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/*
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* Airspeed.cpp - airspeed example sketch
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*
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*/
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#include <AP_AHRS/AP_AHRS.h>
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#include <AP_Airspeed/AP_Airspeed.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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float temperature;
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// create an AHRS object for get_airspeed_max
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AP_AHRS_DCM ahrs;
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// create airspeed object
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AP_Airspeed airspeed;
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static AP_BoardConfig board_config;
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namespace {
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// try to set the object value but provide diagnostic if it failed
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void set_object_value(const void *object_pointer,
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const struct AP_Param::GroupInfo *group_info,
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const char *name, float value)
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{
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if (!AP_Param::set_object_value(object_pointer, group_info, name, value)) {
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hal.console->printf("WARNING: AP_Param::set object value \"%s::%s\" Failed.\n",
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group_info->name, name);
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}
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}
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}
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// to be called only once on boot for initializing objects
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void setup()
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{
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hal.console->printf("ArduPilot Airspeed library test\n");
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// set airspeed pin to 65, enable and use to true
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set_object_value(&airspeed, airspeed.var_info, "PIN", 65);
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set_object_value(&airspeed, airspeed.var_info, "ENABLE", 1);
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set_object_value(&airspeed, airspeed.var_info, "USE", 1);
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board_config.init();
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// initialize airspeed
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airspeed.init();
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airspeed.calibrate(false);
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}
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// loop
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void loop(void)
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{
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static uint32_t timer;
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// run read() and get_temperature() in 10Hz
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if ((AP_HAL::millis() - timer) > 100) {
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// current system time in milliseconds
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timer = AP_HAL::millis();
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airspeed.update(false);
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airspeed.get_temperature(temperature);
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// print temperature and airspeed to console
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hal.console->printf("airspeed %5.2f temperature %6.2f healthy = %u\n",
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(double)airspeed.get_airspeed(), (double)temperature, airspeed.healthy());
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}
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hal.scheduler->delay(1);
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}
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const struct AP_Param::GroupInfo GCS_MAVLINK_Parameters::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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