mirror of https://github.com/ArduPilot/ardupilot
701 lines
17 KiB
Plaintext
701 lines
17 KiB
Plaintext
// These are function definitions so the Menu can be constructed before the functions
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// are defined below. Order matters to the compiler.
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static int8_t test_radio_pwm(uint8_t argc, const Menu::arg *argv);
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static int8_t test_radio(uint8_t argc, const Menu::arg *argv);
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static int8_t test_stabilize(uint8_t argc, const Menu::arg *argv);
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static int8_t test_gps(uint8_t argc, const Menu::arg *argv);
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static int8_t test_adc(uint8_t argc, const Menu::arg *argv);
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static int8_t test_imu(uint8_t argc, const Menu::arg *argv);
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static int8_t test_gyro(uint8_t argc, const Menu::arg *argv);
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static int8_t test_dcm(uint8_t argc, const Menu::arg *argv);
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static int8_t test_omega(uint8_t argc, const Menu::arg *argv);
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static int8_t test_battery(uint8_t argc, const Menu::arg *argv);
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static int8_t test_relay(uint8_t argc, const Menu::arg *argv);
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static int8_t test_wp(uint8_t argc, const Menu::arg *argv);
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static int8_t test_pressure(uint8_t argc, const Menu::arg *argv);
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static int8_t test_nav_out(uint8_t argc, const Menu::arg *argv);
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static int8_t test_mag(uint8_t argc, const Menu::arg *argv);
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static int8_t test_xbee(uint8_t argc, const Menu::arg *argv);
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static int8_t test_eedump(uint8_t argc, const Menu::arg *argv);
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// This is the help function
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// PSTR is an AVR macro to read strings from flash memory
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// printf_P is a version of printf that reads from flash memory
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/*static int8_t help_test(uint8_t argc, const Menu::arg *argv)
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{
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Serial.printf_P(PSTR("\n"
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"Commands:\n"
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" radio\n"
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" servos\n"
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" gps\n"
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" imu\n"
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" battery\n"
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"\n"));
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}*/
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// Creates a constant array of structs representing menu options
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// and stores them in Flash memory, not RAM.
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// User enters the string in the console to call the functions on the right.
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// See class Menu in AP_Coommon for implementation details
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const struct Menu::command test_menu_commands[] PROGMEM = {
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{"pwm", test_radio_pwm},
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{"radio", test_radio},
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{"stabilize", test_stabilize},
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{"gps", test_gps},
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{"adc", test_adc},
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{"imu", test_imu},
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{"gyro", test_gyro},
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{"dcm", test_dcm},
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{"omega", test_omega},
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{"battery", test_battery},
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{"relay", test_relay},
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{"waypoints", test_wp},
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{"airpressure", test_pressure},
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{"nav", test_nav_out},
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{"compass", test_mag},
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{"xbee", test_xbee},
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{"eedump", test_eedump},
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};
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// A Macro to create the Menu
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MENU(test_menu, "test", test_menu_commands);
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int8_t
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test_mode(uint8_t argc, const Menu::arg *argv)
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{
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Serial.printf_P(PSTR("Test Mode\n\n"));
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test_menu.run();
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}
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static int8_t
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test_eedump(uint8_t argc, const Menu::arg *argv)
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{
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int i, j;
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// hexdump the EEPROM
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for (i = 0; i < EEPROM_MAX_ADDR; i += 16) {
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Serial.printf_P(PSTR("%04x:"), i);
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for (j = 0; j < 16; j++)
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Serial.printf_P(PSTR(" %02x"), eeprom_read_byte((const uint8_t *)(i + j)));
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Serial.println();
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}
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return(0);
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}
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static int8_t
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test_radio_pwm(uint8_t argc, const Menu::arg *argv)
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{
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print_hit_enter();
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delay(1000);
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while(1){
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delay(20);
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// Filters radio input - adjust filters in the radio.pde file
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// ----------------------------------------------------------
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read_radio();
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Serial.printf_P(PSTR("IN: 1: %d\t2: %d\t3: %d\t4: %d\t5: %d\t6: %d\t7: %d\t8: %d\n"), rc_1.radio_in, rc_2.radio_in, rc_3.radio_in, rc_4.radio_in, rc_5.radio_in, rc_6.radio_in, rc_7.radio_in, rc_8.radio_in);
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if(Serial.available() > 0){
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return (0);
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}
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}
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}
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static int8_t
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test_radio(uint8_t argc, const Menu::arg *argv)
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{
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print_hit_enter();
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delay(1000);
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// read the radio to set trims
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// ---------------------------
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trim_radio();
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while(1){
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delay(20);
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read_radio();
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output_manual_throttle();
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rc_1.calc_pwm();
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rc_2.calc_pwm();
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rc_3.calc_pwm();
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rc_4.calc_pwm();
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Serial.printf_P(PSTR("IN 1: %d\t2: %d\t3: %d\t4: %d\t5: %d\t6: %d\t7: %d\n"), (rc_1.control_in), (rc_2.control_in), (rc_3.control_in), (rc_4.control_in), rc_5.control_in, rc_6.control_in, rc_7.control_in);
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//Serial.printf_P(PSTR("OUT 1: %d\t2: %d\t3: %d\t4: %d\n"), (rc_1.servo_out / 100), (rc_2.servo_out / 100), rc_3.servo_out, (rc_4.servo_out / 100));
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/*Serial.printf_P(PSTR( "min: %d"
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"\t in: %d"
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"\t pwm_in: %d"
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"\t sout: %d"
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"\t pwm_out %d\n"),
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rc_3.radio_min,
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rc_3.control_in,
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rc_3.radio_in,
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rc_3.servo_out,
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rc_3.pwm_out
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);
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*/
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if(Serial.available() > 0){
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return (0);
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}
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}
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}
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static int8_t
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test_stabilize(uint8_t argc, const Menu::arg *argv)
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{
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static byte ts_num;
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print_hit_enter();
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delay(1000);
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// setup the radio
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// ---------------
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init_rc_in();
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control_mode = STABILIZE;
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Serial.printf_P(PSTR("pid_stabilize_roll.kP: %4.4f\n"), pid_stabilize_roll.kP());
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Serial.printf_P(PSTR("max_stabilize_dampener:%d\n\n "), max_stabilize_dampener);
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motor_armed = true;
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trim_radio();
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while(1){
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// 50 hz
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if (millis() - fast_loopTimer > 19) {
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deltaMiliSeconds = millis() - fast_loopTimer;
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fast_loopTimer = millis();
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G_Dt = (float)deltaMiliSeconds / 1000.f;
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if(compass_enabled){
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medium_loopCounter++;
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if(medium_loopCounter == 5){
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compass.read(); // Read magnetometer
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compass.calculate(roll, pitch); // Calculate heading
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medium_loopCounter = 0;
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}
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}
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// for trim features
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read_trim_switch();
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// Filters radio input - adjust filters in the radio.pde file
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// ----------------------------------------------------------
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read_radio();
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// IMU
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// ---
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read_AHRS();
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// allow us to zero out sensors with control switches
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if(rc_5.control_in < 600){
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roll_sensor = pitch_sensor = 0;
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}
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// custom code/exceptions for flight modes
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// ---------------------------------------
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update_current_flight_mode();
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// write out the servo PWM values
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// ------------------------------
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set_servos_4();
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ts_num++;
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if (ts_num > 10){
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ts_num = 0;
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Serial.printf_P(PSTR("r: %d, p:%d, rc1:%d, rc2:%d, rc4 %d, ny:%ld, ys:%ld, ye:%ld, R: %d, L: %d F: %d B: %d\n"),
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(int)(roll_sensor/100),
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(int)(pitch_sensor/100),
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rc_1.pwm_out,
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rc_2.pwm_out,
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rc_4.pwm_out,
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nav_yaw,
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dcm.yaw_sensor,
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yaw_error,
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motor_out[RIGHT],
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motor_out[LEFT],
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motor_out[FRONT],
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motor_out[BACK]);
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}
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// R: 1417, L: 1453 F: 1453 B: 1417
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//Serial.printf_P(PSTR("timer: %d, r: %d\tp: %d\t y: %d\n"), (int)deltaMiliSeconds, ((int)roll_sensor/100), ((int)pitch_sensor/100), ((uint16_t)yaw_sensor/100));
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//Serial.printf_P(PSTR("timer: %d, r: %d\tp: %d\t y: %d\n"), (int)deltaMiliSeconds, ((int)roll_sensor/100), ((int)pitch_sensor/100), ((uint16_t)yaw_sensor/100));
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if(Serial.available() > 0){
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return (0);
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}
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}
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}
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}
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static int8_t
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test_adc(uint8_t argc, const Menu::arg *argv)
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{
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print_hit_enter();
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adc.Init();
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delay(1000);
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Serial.printf_P(PSTR("ADC\n"));
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delay(1000);
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while(1){
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for(int i = 0; i < 9; i++){
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Serial.printf_P(PSTR("i:%d\t"),adc.Ch(i));
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}
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Serial.println();
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delay(20);
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if(Serial.available() > 0){
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return (0);
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}
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}
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}
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static int8_t
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test_imu(uint8_t argc, const Menu::arg *argv)
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{
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//Serial.printf_P(PSTR("Calibrating."));
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imu.init_gyro();
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print_hit_enter();
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delay(1000);
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while(1){
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delay(20);
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if (millis() - fast_loopTimer > 19) {
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deltaMiliSeconds = millis() - fast_loopTimer;
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G_Dt = (float)deltaMiliSeconds / 1000.f; // used by DCM integrator
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fast_loopTimer = millis();
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// IMU
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// ---
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read_AHRS();
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Vector3f accels = imu.get_accel();
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Vector3f gyros = imu.get_gyro();
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if(compass_enabled){
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medium_loopCounter++;
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if(medium_loopCounter == 5){
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compass.read(); // Read magnetometer
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compass.calculate(roll, pitch); // Calculate heading
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medium_loopCounter = 0;
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}
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}
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// We are using the IMU
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// ---------------------
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Serial.printf_P(PSTR("A: %d,%d,%d\tG: %d,%d,%d\t"), (int)(accels.x*100), (int)(accels.y*100), (int)(accels.z*100),(int)(gyros.x*100), (int)(gyros.y*100), (int)(gyros.z*100));
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Serial.printf_P(PSTR("r: %d\tp: %d\t y: %d\n"), ((int)roll_sensor/100), ((int)pitch_sensor/100), ((uint16_t)yaw_sensor/100));
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}
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if(Serial.available() > 0){
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return (0);
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}
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}
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}
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static int8_t
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test_gps(uint8_t argc, const Menu::arg *argv)
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{
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print_hit_enter();
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delay(1000);
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while(1){
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delay(100);
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update_GPS();
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if(home.lng != 0)
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break;
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}
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while(1){
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delay(20);
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calc_distance_error();
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// Blink GPS LED if we don't have a fix
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// ------------------------------------
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//update_GPS_light();
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GPS.update();
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if (GPS.new_data){
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Serial.print("Lat:");
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Serial.print((float)GPS.latitude/10000000, 10);
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Serial.print(" Lon:");
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Serial.print((float)GPS.longitude/10000000, 10);
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Serial.printf_P(PSTR(" alt %dm, spd: %d dist:%d, #sats: %d\n"), (int)GPS.altitude/100, (int)GPS.ground_speed, (int)wp_distance, (int)GPS.num_sats);
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}else{
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//Serial.print(".");
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}
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if(Serial.available() > 0){
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return (0);
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}
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}
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}
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static int8_t
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test_gyro(uint8_t argc, const Menu::arg *argv)
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{
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print_hit_enter();
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delay(1000);
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Serial.printf_P(PSTR("Gyro | Accel\n"));
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delay(1000);
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while(1){
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Vector3f gyros = imu.get_gyro();
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Vector3f accels = imu.get_accel();
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Serial.printf_P(PSTR("%d\t%d\t%d\t|\t%d\t%d\t%d\n"), (int)gyros.x, (int)gyros.y, (int)gyros.z, (int)accels.x, (int)accels.y, (int)accels.z);
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delay(100);
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if(Serial.available() > 0){
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return (0);
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}
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}
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}
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static int8_t
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test_dcm(uint8_t argc, const Menu::arg *argv)
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{
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print_hit_enter();
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delay(1000);
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Serial.printf_P(PSTR("Gyro | Accel\n"));
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Vector3f _cam_vector;
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Vector3f _out_vector;
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G_Dt = .02;
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while(1){
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for(byte i = 0; i <= 50; i++){
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delay(20);
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// IMU
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// ---
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read_AHRS();
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}
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Matrix3f temp = dcm.get_dcm_matrix();
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Matrix3f temp_t = dcm.get_dcm_transposed();
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Serial.printf_P(PSTR("dcm\n"
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"%d \t %d \t %d \n"
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"%d \t %d \t %d \n"
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"%d \t %d \t %d \n\n"),
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(int)(temp.a.x * 100), (int)(temp.a.y * 100), (int)(temp.a.z * 100),
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(int)(temp.b.x * 100), (int)(temp.b.y * 100), (int)(temp.b.z * 100),
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(int)(temp.c.x * 100), (int)(temp.c.y * 100), (int)(temp.c.z * 100));
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Serial.printf_P(PSTR("dcm T\n"
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"%d \t %d \t %d \n"
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"%d \t %d \t %d \n"
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"%d \t %d \t %d \n\n"),
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(int)(temp_t.a.x * 100), (int)(temp_t.a.y * 100), (int)(temp_t.a.z * 100),
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(int)(temp_t.b.x * 100), (int)(temp_t.b.y * 100), (int)(temp_t.b.z * 100),
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(int)(temp_t.c.x * 100), (int)(temp_t.c.y * 100), (int)(temp_t.c.z * 100));
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int _pitch = degrees(-asin(temp.c.x));
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int _roll = degrees(atan2(temp.c.y, temp.c.z));
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int _yaw = degrees(atan2(temp.b.x, temp.a.x));
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Serial.printf_P(PSTR( "angles\n"
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"%d \t %d \t %d\n\n"),
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_pitch, _roll, _yaw);
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int _pitch_t = degrees(-asin(temp_t.c.x));
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int _roll_t = degrees(atan2(temp_t.c.y, temp_t.c.z));
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int _yaw_t = degrees(atan2(temp_t.b.x, temp_t.a.x));
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Serial.printf_P(PSTR( "angles_t\n"
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"%d \t %d \t %d\n\n"),
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_pitch_t, _roll_t, _yaw_t);
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//_out_vector = _cam_vector * temp;
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//Serial.printf_P(PSTR( "cam\n"
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// "%d \t %d \t %d\n\n"),
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// (int)temp.a.x * 100, (int)temp.a.y * 100, (int)temp.a.x * 100);
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if(Serial.available() > 0){
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return (0);
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}
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}
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}
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/*
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static int8_t
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test_dcm(uint8_t argc, const Menu::arg *argv)
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{
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print_hit_enter();
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delay(1000);
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Serial.printf_P(PSTR("Gyro | Accel\n"));
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delay(1000);
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while(1){
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Vector3f accels = dcm.get_accel();
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Serial.print("accels.z:");
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Serial.print(accels.z);
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Serial.print("omega.z:");
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Serial.print(omega.z);
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delay(100);
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if(Serial.available() > 0){
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return (0);
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}
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}
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}
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*/
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static int8_t
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test_omega(uint8_t argc, const Menu::arg *argv)
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{
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static byte ts_num;
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float old_yaw;
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print_hit_enter();
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delay(1000);
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Serial.printf_P(PSTR("Omega"));
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delay(1000);
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G_Dt = .02;
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while(1){
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delay(20);
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// IMU
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// ---
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read_AHRS();
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float my_oz = (dcm.yaw - old_yaw) * 50;
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old_yaw = dcm.yaw;
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Vector3f omega = dcm.get_gyro();
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ts_num++;
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if (ts_num > 2){
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ts_num = 0;
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//Serial.printf_P(PSTR("R: %4.4f\tP: %4.4f\tY: %4.4f\tY: %4.4f\n"), omega.x, omega.y, omega.z, my_oz);
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Serial.printf_P(PSTR(" Yaw: %ld\tY: %4.4f\tY: %4.4f\n"), dcm.yaw_sensor, omega.z, my_oz);
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}
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if(Serial.available() > 0){
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return (0);
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}
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}
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return (0);
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}
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static int8_t
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test_battery(uint8_t argc, const Menu::arg *argv)
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{
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#if BATTERY_EVENT == 1
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for (int i = 0; i < 20; i++){
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delay(20);
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read_battery();
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}
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Serial.printf_P(PSTR("Volts: 1:"));
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Serial.print(battery_voltage1, 4);
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Serial.print(" 2:");
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Serial.print(battery_voltage2, 4);
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Serial.print(" 3:");
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Serial.print(battery_voltage3, 4);
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Serial.print(" 4:");
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Serial.println(battery_voltage4, 4);
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#else
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Serial.printf_P(PSTR("Not enabled\n"));
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#endif
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return (0);
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}
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|
|
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static int8_t
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test_relay(uint8_t argc, const Menu::arg *argv)
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{
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print_hit_enter();
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delay(1000);
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while(1){
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Serial.println("Relay A");
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relay_A();
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delay(3000);
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if(Serial.available() > 0){
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return (0);
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}
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|
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Serial.println("Relay B");
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relay_B();
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delay(3000);
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if(Serial.available() > 0){
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return (0);
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}
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}
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}
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|
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static int8_t
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test_wp(uint8_t argc, const Menu::arg *argv)
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{
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delay(1000);
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read_EEPROM_waypoint_info();
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|
|
|
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// save the alitude above home option
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if(alt_to_hold == -1){
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Serial.printf_P(PSTR("Hold current altitude\n"));
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}else{
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Serial.printf_P(PSTR("Hold altitude of %dm\n"), alt_to_hold/100);
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}
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|
|
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Serial.printf_P(PSTR("%d waypoints\n"), wp_total);
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Serial.printf_P(PSTR("Hit radius: %d\n"), wp_radius);
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Serial.printf_P(PSTR("Loiter radius: %d\n\n"), loiter_radius);
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|
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for(byte i = 0; i <= wp_total; i++){
|
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struct Location temp = get_wp_with_index(i);
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print_waypoint(&temp, i);
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}
|
|
|
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return (0);
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}
|
|
|
|
|
|
static int8_t
|
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test_xbee(uint8_t argc, const Menu::arg *argv)
|
|
{
|
|
print_hit_enter();
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delay(1000);
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Serial.printf_P(PSTR("Begin XBee X-CTU Range and RSSI Test:\n"));
|
|
while(1){
|
|
delay(250);
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|
// Timeout set high enough for X-CTU RSSI Calc over XBee @ 115200
|
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Serial3.printf_P(PSTR("0123456789:;<=>?@ABCDEFGHIJKLMNO\n"));
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//Serial.print("X");
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// Default 32bit data from X-CTU Range Test
|
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if(Serial.available() > 0){
|
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return (0);
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}
|
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}
|
|
}
|
|
|
|
static int8_t
|
|
test_pressure(uint8_t argc, const Menu::arg *argv)
|
|
{
|
|
uint32_t sum;
|
|
|
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Serial.printf_P(PSTR("Uncalibrated Abs Airpressure\n"));
|
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Serial.printf_P(PSTR("Altitude is relative to the start of this test\n"));
|
|
print_hit_enter();
|
|
|
|
Serial.printf_P(PSTR("\nCalibrating....\n"));
|
|
/*
|
|
for (int i = 1; i < 301; i++) {
|
|
read_barometer();
|
|
if(i > 200)
|
|
sum += abs_pressure;
|
|
delay(10);
|
|
}
|
|
abs_pressure_ground = (float)sum / 100.0;
|
|
*/
|
|
|
|
home.alt = 0;
|
|
wp_distance = 0;
|
|
init_pressure_ground();
|
|
|
|
while(1){
|
|
if (millis()-fast_loopTimer > 9) {
|
|
deltaMiliSeconds = millis() - fast_loopTimer;
|
|
G_Dt = (float)deltaMiliSeconds / 1000.f; // used by DCM integrator
|
|
fast_loopTimer = millis();
|
|
|
|
|
|
calc_altitude_error();
|
|
calc_nav_throttle();
|
|
}
|
|
|
|
if (millis()-medium_loopTimer > 100) {
|
|
medium_loopTimer = millis();
|
|
|
|
read_radio(); // read the radio first
|
|
next_WP.alt = home.alt + rc_6.control_in; // 0 - 2000 (20 meters)
|
|
read_trim_switch();
|
|
read_barometer();
|
|
|
|
//Serial.printf_P(PSTR("Alt: %dm, Raw: %d\n"), pressure_altitude / 100, abs_pressure); // Someone needs to fix the formatting here for long integers
|
|
/*
|
|
Serial.print("Altitude: ");
|
|
Serial.print((int)current_loc.alt,DEC);
|
|
Serial.print("\tnext_alt: ");
|
|
Serial.print((int)next_WP.alt,DEC);
|
|
Serial.print("\talt_err: ");
|
|
Serial.print((int)altitude_error,DEC);
|
|
Serial.print("\ttNom: ");
|
|
Serial.print(throttle_cruise,DEC);
|
|
Serial.print("\ttOut: ");
|
|
Serial.println(rc_3.servo_out,DEC);
|
|
*/
|
|
//Serial.print(" Raw pressure value: ");
|
|
//Serial.println(abs_pressure);
|
|
}
|
|
|
|
if(Serial.available() > 0){
|
|
return (0);
|
|
}
|
|
}
|
|
}
|
|
|
|
static int8_t
|
|
test_nav_out(uint8_t argc, const Menu::arg *argv)
|
|
{
|
|
Serial.printf_P(PSTR("Nav test\n"));
|
|
print_hit_enter();
|
|
|
|
wp_distance = 100;
|
|
dTnav = 50;
|
|
|
|
while(1){
|
|
delay(50);
|
|
bearing_error += 100;
|
|
bearing_error = wrap_360(bearing_error);
|
|
calc_nav_pid();
|
|
calc_nav_pitch();
|
|
calc_nav_roll();
|
|
|
|
Serial.printf("error %ld,\troll %ld,\tpitch %ld\n", bearing_error, nav_roll, nav_pitch);
|
|
|
|
if(Serial.available() > 0){
|
|
return (0);
|
|
}
|
|
}
|
|
}
|
|
|
|
static int8_t
|
|
test_mag(uint8_t argc, const Menu::arg *argv)
|
|
{
|
|
if(compass_enabled == false){
|
|
Serial.printf_P(PSTR("Compass disabled\n"));
|
|
return (0);
|
|
}else{
|
|
print_hit_enter();
|
|
while(1){
|
|
delay(250);
|
|
compass.read();
|
|
compass.calculate(0,0);
|
|
Serial.printf_P(PSTR("Heading: ("));
|
|
Serial.print(ToDeg(compass.heading));
|
|
Serial.printf_P(PSTR(") XYZ: ("));
|
|
Serial.print(compass.mag_x);
|
|
Serial.print(comma);
|
|
Serial.print(compass.mag_y);
|
|
Serial.print(comma);
|
|
Serial.print(compass.mag_z);
|
|
Serial.println(")");
|
|
if(Serial.available() > 0){
|
|
return (0);
|
|
}
|
|
}
|
|
}
|
|
}
|
|
|
|
|
|
void print_hit_enter()
|
|
{
|
|
Serial.printf_P(PSTR("Hit Enter to exit.\n\n"));
|
|
}
|