ardupilot/ArduCopter/test.cpp

277 lines
7.7 KiB
C++

// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
#include "Copter.h"
#if CLI_ENABLED == ENABLED
// Creates a constant array of structs representing menu options
// and stores them in Flash memory, not RAM.
// User enters the string in the console to call the functions on the right.
// See class Menu in AP_Coommon for implementation details
static const struct Menu::command test_menu_commands[] PROGMEM = {
#if HIL_MODE == HIL_MODE_DISABLED
{"baro", MENU_FUNC(test_baro)},
#endif
{"compass", MENU_FUNC(test_compass)},
{"ins", MENU_FUNC(test_ins)},
{"optflow", MENU_FUNC(test_optflow)},
{"relay", MENU_FUNC(test_relay)},
#if CONFIG_HAL_BOARD == HAL_BOARD_PX4 || CONFIG_HAL_BOARD == HAL_BOARD_VRBRAIN
{"shell", MENU_FUNC(test_shell)},
#endif
#if HIL_MODE == HIL_MODE_DISABLED
{"rangefinder", MENU_FUNC(test_sonar)},
#endif
};
// A Macro to create the Menu
MENU(test_menu, "test", test_menu_commands);
int8_t Copter::test_mode(uint8_t argc, const Menu::arg *argv)
{
test_menu.run();
return 0;
}
#if HIL_MODE == HIL_MODE_DISABLED
int8_t Copter::test_baro(uint8_t argc, const Menu::arg *argv)
{
print_hit_enter();
init_barometer(true);
while(1) {
delay(100);
read_barometer();
if (!barometer.healthy()) {
cliSerial->println_P(PSTR("not healthy"));
} else {
cliSerial->printf_P(PSTR("Alt: %0.2fm, Raw: %f Temperature: %.1f\n"),
(double)(baro_alt / 100.0f),
(double)barometer.get_pressure(),
(double)barometer.get_temperature());
}
if(cliSerial->available() > 0) {
return (0);
}
}
return 0;
}
#endif
int8_t Copter::test_compass(uint8_t argc, const Menu::arg *argv)
{
uint8_t delta_ms_fast_loop;
uint8_t medium_loopCounter = 0;
if (!g.compass_enabled) {
cliSerial->printf_P(PSTR("Compass: "));
print_enabled(false);
return (0);
}
if (!compass.init()) {
cliSerial->println_P(PSTR("Compass initialisation failed!"));
return 0;
}
ahrs.init();
ahrs.set_fly_forward(true);
ahrs.set_compass(&compass);
#if OPTFLOW == ENABLED
ahrs.set_optflow(&optflow);
#endif
report_compass();
// we need the AHRS initialised for this test
ins.init(ins_sample_rate);
ahrs.reset();
int16_t counter = 0;
float heading = 0;
print_hit_enter();
while(1) {
delay(20);
if (millis() - fast_loopTimer > 19) {
delta_ms_fast_loop = millis() - fast_loopTimer;
G_Dt = (float)delta_ms_fast_loop / 1000.0f; // used by DCM integrator
fast_loopTimer = millis();
// INS
// ---
ahrs.update();
medium_loopCounter++;
if(medium_loopCounter == 5) {
if (compass.read()) {
// Calculate heading
const Matrix3f &m = ahrs.get_dcm_matrix();
heading = compass.calculate_heading(m);
compass.learn_offsets();
}
medium_loopCounter = 0;
}
counter++;
if (counter>20) {
if (compass.healthy()) {
const Vector3f &mag_ofs = compass.get_offsets_milligauss();
const Vector3f &mag = compass.get_field_milligauss();
cliSerial->printf_P(PSTR("Heading: %ld, XYZ: %.0f, %.0f, %.0f,\tXYZoff: %6.2f, %6.2f, %6.2f\n"),
(wrap_360_cd(ToDeg(heading) * 100)) /100,
(double)mag.x,
(double)mag.y,
(double)mag.z,
(double)mag_ofs.x,
(double)mag_ofs.y,
(double)mag_ofs.z);
} else {
cliSerial->println_P(PSTR("compass not healthy"));
}
counter=0;
}
}
if (cliSerial->available() > 0) {
break;
}
}
// save offsets. This allows you to get sane offset values using
// the CLI before you go flying.
cliSerial->println_P(PSTR("saving offsets"));
compass.save_offsets();
return (0);
}
int8_t Copter::test_ins(uint8_t argc, const Menu::arg *argv)
{
Vector3f gyro, accel;
print_hit_enter();
cliSerial->printf_P(PSTR("INS\n"));
delay(1000);
ahrs.init();
ins.init(ins_sample_rate);
cliSerial->printf_P(PSTR("...done\n"));
delay(50);
while(1) {
ins.update();
gyro = ins.get_gyro();
accel = ins.get_accel();
float test = accel.length() / GRAVITY_MSS;
cliSerial->printf_P(PSTR("a %7.4f %7.4f %7.4f g %7.4f %7.4f %7.4f t %7.4f \n"),
(double)accel.x, (double)accel.y, (double)accel.z,
(double)gyro.x, (double)gyro.y, (double)gyro.z,
(double)test);
delay(40);
if(cliSerial->available() > 0) {
return (0);
}
}
}
int8_t Copter::test_optflow(uint8_t argc, const Menu::arg *argv)
{
#if OPTFLOW == ENABLED
if(optflow.enabled()) {
cliSerial->printf_P(PSTR("dev id: %d\t"),(int)optflow.device_id());
print_hit_enter();
while(1) {
delay(200);
optflow.update();
const Vector2f& flowRate = optflow.flowRate();
cliSerial->printf_P(PSTR("flowX : %7.4f\t flowY : %7.4f\t flow qual : %d\n"),
(double)flowRate.x,
(double)flowRate.y,
(int)optflow.quality());
if(cliSerial->available() > 0) {
return (0);
}
}
} else {
cliSerial->printf_P(PSTR("OptFlow: "));
print_enabled(false);
}
return (0);
#else
return (0);
#endif // OPTFLOW == ENABLED
}
int8_t Copter::test_relay(uint8_t argc, const Menu::arg *argv)
{
print_hit_enter();
delay(1000);
while(1) {
cliSerial->printf_P(PSTR("Relay on\n"));
relay.on(0);
delay(3000);
if(cliSerial->available() > 0) {
return (0);
}
cliSerial->printf_P(PSTR("Relay off\n"));
relay.off(0);
delay(3000);
if(cliSerial->available() > 0) {
return (0);
}
}
}
#if CONFIG_HAL_BOARD == HAL_BOARD_PX4 || CONFIG_HAL_BOARD == HAL_BOARD_VRBRAIN
/*
* run a debug shell
*/
int8_t Copter::test_shell(uint8_t argc, const Menu::arg *argv)
{
hal.util->run_debug_shell(cliSerial);
return 0;
}
#endif
#if HIL_MODE == HIL_MODE_DISABLED
/*
* test the rangefinders
*/
int8_t Copter::test_sonar(uint8_t argc, const Menu::arg *argv)
{
#if CONFIG_SONAR == ENABLED
sonar.init();
cliSerial->printf_P(PSTR("RangeFinder: %d devices detected\n"), sonar.num_sensors());
print_hit_enter();
while(1) {
delay(100);
sonar.update();
cliSerial->printf_P(PSTR("Primary: status %d distance_cm %d \n"), (int)sonar.status(), sonar.distance_cm());
cliSerial->printf_P(PSTR("All: device_0 type %d status %d distance_cm %d, device_1 type %d status %d distance_cm %d\n"),
(int)sonar._type[0], (int)sonar.status(0), sonar.distance_cm(0), (int)sonar._type[1], (int)sonar.status(1), sonar.distance_cm(1));
if(cliSerial->available() > 0) {
return (0);
}
}
#endif
return (0);
}
#endif
void Copter::print_hit_enter()
{
cliSerial->printf_P(PSTR("Hit Enter to exit.\n\n"));
}
#endif // CLI_ENABLED