mirror of https://github.com/ArduPilot/ardupilot
86 lines
2.2 KiB
C++
86 lines
2.2 KiB
C++
/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
|
|
/*
|
|
This program is free software: you can redistribute it and/or modify
|
|
it under the terms of the GNU General Public License as published by
|
|
the Free Software Foundation, either version 3 of the License, or
|
|
(at your option) any later version.
|
|
|
|
This program is distributed in the hope that it will be useful,
|
|
but WITHOUT ANY WARRANTY; without even the implied warranty of
|
|
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
|
GNU General Public License for more details.
|
|
|
|
You should have received a copy of the GNU General Public License
|
|
along with this program. If not, see <http://www.gnu.org/licenses/>.
|
|
*/
|
|
|
|
/*
|
|
* Airspeed.pde - airspeed example sketch
|
|
*
|
|
*/
|
|
|
|
#include <AP_Common.h>
|
|
#include <AP_Progmem.h>
|
|
#include <AP_Param.h>
|
|
#include <AP_Math.h>
|
|
#include <AP_HAL.h>
|
|
#include <AP_HAL_AVR.h>
|
|
#include <AP_HAL_Linux.h>
|
|
#include <AP_HAL_Empty.h>
|
|
#include <AP_ADC.h>
|
|
#include <AP_ADC_AnalogSource.h>
|
|
#include <Filter.h>
|
|
#include <AP_Buffer.h>
|
|
#include <AP_Airspeed.h>
|
|
#include <AP_Vehicle.h>
|
|
#include <AP_Notify.h>
|
|
#include <AP_Compass.h>
|
|
#include <AP_Declination.h>
|
|
#include <AP_AHRS.h>
|
|
#include <AP_NavEKF.h>
|
|
#include <AP_Terrain.h>
|
|
#include <DataFlash.h>
|
|
#include <AP_Baro.h>
|
|
#include <GCS_MAVLink.h>
|
|
#include <AP_Mission.h>
|
|
#include <StorageManager.h>
|
|
#include <AP_Terrain.h>
|
|
#include <AP_GPS.h>
|
|
#include <AP_InertialSensor.h>
|
|
#include <AP_BattMonitor.h>
|
|
#include <AP_Rally.h>
|
|
#include <AP_RangeFinder.h>
|
|
|
|
#if CONFIG_HAL_BOARD == HAL_BOARD_APM1
|
|
AP_ADC_ADS7844 apm1_adc;
|
|
#endif
|
|
|
|
const AP_HAL::HAL& hal = AP_HAL_BOARD_DRIVER;
|
|
|
|
static AP_Vehicle::FixedWing aparm;
|
|
|
|
AP_Airspeed airspeed(aparm);
|
|
|
|
void setup()
|
|
{
|
|
hal.console->println("ArduPilot Airspeed library test");
|
|
|
|
AP_Param::set_object_value(&airspeed, airspeed.var_info, "_PIN", 65);
|
|
|
|
airspeed.init();
|
|
airspeed.calibrate(false);
|
|
}
|
|
|
|
void loop(void)
|
|
{
|
|
static uint32_t timer;
|
|
if((hal.scheduler->millis() - timer) > 100) {
|
|
timer = hal.scheduler->millis();
|
|
airspeed.read();
|
|
hal.console->printf("airspeed %.2f\n", airspeed.get_airspeed());
|
|
}
|
|
hal.scheduler->delay(1);
|
|
}
|
|
|
|
AP_HAL_MAIN();
|