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ArduCopter test: Renamed the test from sonar to rangefinder and added info on all devices

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This commit is contained in:
akdslr 2014-07-17 16:08:27 -04:00 committed by Andrew Tridgell
parent a1861125e6
commit 06fa2e3f60
1 changed files with 8 additions and 9 deletions
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17
ArduCopter/test.pde
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@ -34,7 +34,7 @@ const struct Menu::command test_menu_commands[] PROGMEM = {
{"shell", test_shell}, {"shell", test_shell},
#endif #endif
#if HIL_MODE == HIL_MODE_DISABLED #if HIL_MODE == HIL_MODE_DISABLED
{"sonar", test_sonar}, {"rangefinder", test_sonar},
#endif #endif
}; };
@ -260,25 +260,24 @@ test_shell(uint8_t argc, const Menu::arg *argv)
#if HIL_MODE == HIL_MODE_DISABLED #if HIL_MODE == HIL_MODE_DISABLED
/* /*
* test the sonar * test the rangefinders
*/ */
static int8_t static int8_t
test_sonar(uint8_t argc, const Menu::arg *argv) test_sonar(uint8_t argc, const Menu::arg *argv)
{ {
#if CONFIG_SONAR == ENABLED #if CONFIG_SONAR == ENABLED
if(!sonar.healthy()) { sonar.init();
cliSerial->printf_P(PSTR("Sonar disabled\n"));
return (0);
}
// make sure sonar is initialised cliSerial->printf_P(PSTR("RangeFinder: %d devices detected\n"), sonar.num_sensors());
init_sonar();
print_hit_enter(); print_hit_enter();
while(1) { while(1) {
delay(100); delay(100);
sonar.update(); sonar.update();
cliSerial->printf_P(PSTR("Sonar: %d cm\n"), sonar.distance_cm());
cliSerial->printf_P(PSTR("Primary: health %d distance_cm %d \n"), (int)sonar.healthy(), sonar.distance_cm());
cliSerial->printf_P(PSTR("All: device_0 type %d health %d distance_cm %d, device_1 type %d health %d distance_cm %d\n"),
(int)sonar._type[0], (int)sonar.healthy(0), sonar.distance_cm(0), (int)sonar._type[1], (int)sonar.healthy(1), sonar.distance_cm(1));
if(cliSerial->available() > 0) { if(cliSerial->available() > 0) {
return (0); return (0);