mirror of https://github.com/ArduPilot/ardupilot
151 lines
3.5 KiB
Plaintext
151 lines
3.5 KiB
Plaintext
// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: t -*-
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//
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// Simple test for the AP_AHRS interface
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//
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#include <AP_HAL.h>
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#include <AP_Common.h>
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#include <AP_Progmem.h>
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#include <AP_Math.h>
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#include <AP_Param.h>
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#include <AP_InertialSensor.h>
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#include <AP_ADC.h>
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#include <AP_GPS.h>
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#include <AP_AHRS.h>
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#include <AP_Compass.h>
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#include <AP_Declination.h>
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#include <AP_Airspeed.h>
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#include <AP_Baro.h>
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#include <GCS_MAVLink.h>
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#include <Filter.h>
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#include <SITL.h>
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#include <AP_Buffer.h>
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#include <AP_HAL_AVR.h>
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#include <AP_HAL_AVR_SITL.h>
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#include <AP_HAL_Empty.h>
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const AP_HAL::HAL& hal = AP_HAL_BOARD_DRIVER;
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#if CONFIG_HAL_BOARD == HAL_BOARD_APM2
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AP_InertialSensor_MPU6000 ins;
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#elif CONFIG_HAL_BOARD == HAL_BOARD_APM1
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AP_ADC_ADS7844 adc;
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AP_InertialSensor_Oilpan ins( &adc );
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#else
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AP_InertialSensor_Stub ins;
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#endif
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AP_Compass_HMC5843 compass;
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GPS *g_gps;
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AP_GPS_Auto g_gps_driver(&g_gps);
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// choose which AHRS system to use
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AP_AHRS_DCM ahrs(&ins, g_gps);
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//AP_AHRS_MPU6000 ahrs(&ins, g_gps); // only works with APM2
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AP_Baro_BMP085_HIL barometer;
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#define HIGH 1
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#define LOW 0
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#if CONFIG_HAL_BOARD == HAL_BOARD_APM2
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# define A_LED_PIN 27
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# define C_LED_PIN 25
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# define LED_ON LOW
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# define LED_OFF HIGH
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# define MAG_ORIENTATION AP_COMPASS_APM2_SHIELD
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#else
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# define A_LED_PIN 37
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# define C_LED_PIN 35
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# define LED_ON HIGH
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# define LED_OFF LOW
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# define MAG_ORIENTATION AP_COMPASS_COMPONENTS_DOWN_PINS_FORWARD
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#endif
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static void flash_leds(bool on)
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{
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hal.gpio->write(A_LED_PIN, on ? LED_OFF : LED_ON);
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hal.gpio->write(C_LED_PIN, on ? LED_ON : LED_OFF);
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}
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void setup(void)
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{
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#ifdef APM2_HARDWARE
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// we need to stop the barometer from holding the SPI bus
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hal.gpio->pinMode(40, GPIO_OUTPUT);
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hal.gpio->write(40, HIGH);
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#endif
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ins.init(AP_InertialSensor::COLD_START,
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AP_InertialSensor::RATE_100HZ,
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flash_leds);
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ins.init_accel(flash_leds);
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compass.set_orientation(MAG_ORIENTATION);
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ahrs.init();
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if( compass.init() ) {
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hal.console->printf("Enabling compass\n");
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ahrs.set_compass(&compass);
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} else {
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hal.console->printf("No compass detected\n");
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}
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g_gps = &g_gps_driver;
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#if WITH_GPS
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g_gps->init(hal.uartB);
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#endif
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}
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void loop(void)
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{
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static uint16_t counter;
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static uint32_t last_t, last_print, last_compass;
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uint32_t now = hal.scheduler->micros();
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float heading = 0;
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if (last_t == 0) {
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last_t = now;
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return;
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}
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last_t = now;
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if (now - last_compass > 100*1000UL &&
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compass.read()) {
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heading = compass.calculate_heading(ahrs.get_dcm_matrix());
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// read compass at 10Hz
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last_compass = now;
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#if WITH_GPS
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g_gps->update();
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#endif
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}
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ahrs.update();
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counter++;
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if (now - last_print >= 100000 /* 100ms : 10hz */) {
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Vector3f drift = ahrs.get_gyro_drift();
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hal.console->printf_P(
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PSTR("r:%4.1f p:%4.1f y:%4.1f "
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"drift=(%5.1f %5.1f %5.1f) hdg=%.1f rate=%.1f\n"),
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ToDeg(ahrs.roll),
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ToDeg(ahrs.pitch),
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ToDeg(ahrs.yaw),
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ToDeg(drift.x),
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ToDeg(drift.y),
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ToDeg(drift.z),
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compass.use_for_yaw() ? ToDeg(heading) : 0.0,
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(1.0e6*counter)/(now-last_print));
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last_print = now;
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counter = 0;
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}
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}
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AP_HAL_MAIN();
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