mirror of https://github.com/ArduPilot/ardupilot
86 lines
2.2 KiB
Plaintext
86 lines
2.2 KiB
Plaintext
/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
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/*
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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.pde - airspeed example sketch
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*
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*/
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#include <AP_Common.h>
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#include <AP_Progmem.h>
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#include <AP_Param.h>
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#include <AP_Math.h>
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#include <AP_HAL.h>
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#include <AP_HAL_AVR.h>
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#include <AP_HAL_Linux.h>
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#include <AP_HAL_Empty.h>
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#include <AP_ADC.h>
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#include <AP_ADC_AnalogSource.h>
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#include <Filter.h>
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#include <AP_Buffer.h>
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#include <AP_Airspeed.h>
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#include <AP_Vehicle.h>
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#include <AP_Notify.h>
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#include <AP_Compass.h>
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#include <AP_Declination.h>
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#include <AP_AHRS.h>
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#include <AP_NavEKF.h>
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#include <AP_Terrain.h>
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#include <DataFlash.h>
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#include <AP_Baro.h>
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#include <GCS_MAVLink.h>
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#include <AP_Mission.h>
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#include <StorageManager.h>
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#include <AP_Terrain.h>
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#include <AP_GPS.h>
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#include <AP_InertialSensor.h>
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#include <AP_BattMonitor.h>
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#include <AP_Rally.h>
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#include <AP_RangeFinder.h>
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#if CONFIG_HAL_BOARD == HAL_BOARD_APM1
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AP_ADC_ADS7844 apm1_adc;
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#endif
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const AP_HAL::HAL& hal = AP_HAL_BOARD_DRIVER;
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static AP_Vehicle::FixedWing aparm;
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AP_Airspeed airspeed(aparm);
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void setup()
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{
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hal.console->println("ArduPilot Airspeed library test");
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AP_Param::set_object_value(&airspeed, airspeed.var_info, "_PIN", 65);
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airspeed.init();
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airspeed.calibrate(false);
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}
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void loop(void)
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{
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static uint32_t timer;
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if((hal.scheduler->millis() - timer) > 100) {
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timer = hal.scheduler->millis();
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airspeed.read();
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hal.console->printf("airspeed %.2f\n", airspeed.get_airspeed());
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}
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hal.scheduler->delay(1);
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}
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AP_HAL_MAIN();
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