mirror of https://github.com/ArduPilot/ardupilot
79 lines
1.9 KiB
C++
79 lines
1.9 KiB
C++
/*
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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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* RPM_generic.cpp - RPM library example sketch
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*
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*/
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#include <AP_RPM/AP_RPM.h>
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#include <AP_HAL/AP_HAL.h>
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void setup();
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void loop();
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const AP_HAL::HAL& hal = AP_HAL::get_HAL();
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static AP_RPM RPM;
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char sensor_state;
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void setup()
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{
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hal.console->printf("APM RPM library test\n\n\n");
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RPM.init();
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hal.console->printf("Detected %u RPM sensors\n\n", RPM.num_sensors());
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}
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void loop(void)
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{
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RPM.update();
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for (uint8_t ii = 0; ii < RPM.num_sensors(); ii++) {
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// Determine sensor state
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if (RPM.healthy(ii)) {
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// Healthy sensor
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sensor_state = 'h';
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} else if (RPM.enabled(ii)) {
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// Enabled but not healthy
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sensor_state = 'e';
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} else {
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// Not enabled, not healthy
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sensor_state = '-';
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}
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float rpm = -1;
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RPM.get_rpm(ii, rpm);
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hal.console->printf("%u - (%c) RPM: %8.2f Quality: %.2f ",
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ii, sensor_state,
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(double)rpm,
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(double)RPM.get_signal_quality(ii));
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if (ii+1 < RPM.num_sensors()) {
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// Print a seperating bar if more sensors to process
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hal.console->printf("| ");
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}
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}
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hal.scheduler->delay(100);
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hal.console->printf("\n");
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}
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AP_HAL_MAIN();
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