removed some unneeded HIL #defines
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Jason Short
parent
5038fcecd8
commit
85b564c5eb
@ -11,18 +11,13 @@ static int8_t test_radio(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_tri(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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#if HIL_MODE != HIL_MODE_ATTITUDE
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static int8_t test_ins(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_dcm_eulers(uint8_t argc, const Menu::arg *argv);
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#endif // HIL_MODE
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//static int8_t test_dcm_eulers(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_nav(uint8_t argc, const Menu::arg *argv);
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//static int8_t test_wp_nav(uint8_t argc, const Menu::arg *argv);
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//static int8_t test_reverse(uint8_t argc, const Menu::arg *argv);
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static int8_t test_tuning(uint8_t argc, const Menu::arg *argv);
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@ -31,12 +26,8 @@ static int8_t test_current(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_baro(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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#if HIL_MODE != HIL_MODE_ATTITUDE && CONFIG_SONAR == ENABLED
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static int8_t test_sonar(uint8_t argc, const Menu::arg *argv);
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#endif
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#ifdef OPTFLOW_ENABLED
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static int8_t test_optflow(uint8_t argc, const Menu::arg *argv);
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#endif
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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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static int8_t test_rawgps(uint8_t argc, const Menu::arg *argv);
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@ -67,14 +58,10 @@ const struct Menu::command test_menu_commands[] PROGMEM = {
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// {"failsafe", test_failsafe},
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// {"stabilize", test_stabilize},
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{"gps", test_gps},
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#if HIL_MODE != HIL_MODE_ATTITUDE && CONFIG_ADC == ENABLED
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// {"adc", test_adc},
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#endif
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#if HIL_MODE != HIL_MODE_ATTITUDE
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{"ins", test_ins},
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{"imu", test_imu},
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{"dcm", test_dcm_eulers},
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#endif
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// {"dcm", test_dcm_eulers},
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//{"omega", test_omega},
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{"battery", test_battery},
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{"tune", test_tuning},
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@ -83,16 +70,10 @@ const struct Menu::command test_menu_commands[] PROGMEM = {
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// {"relay", test_relay},
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{"wp", test_wp},
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//{"nav", test_nav},
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#if HIL_MODE != HIL_MODE_ATTITUDE
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{"altitude", test_baro},
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#endif
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#if HIL_MODE != HIL_MODE_ATTITUDE && CONFIG_SONAR == ENABLED
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{"sonar", test_sonar},
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#endif
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{"compass", test_mag},
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#ifdef OPTFLOW_ENABLED
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{"optflow", test_optflow},
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#endif
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//{"xbee", test_xbee},
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{"eedump", test_eedump},
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// {"rawgps", test_rawgps},
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@ -408,7 +389,8 @@ test_radio(uint8_t argc, const Menu::arg *argv)
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*/
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/*#if HIL_MODE != HIL_MODE_ATTITUDE && CONFIG_ADC == ENABLED
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/*
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#if HIL_MODE != HIL_MODE_ATTITUDE && CONFIG_ADC == ENABLED
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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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@ -434,7 +416,6 @@ test_radio(uint8_t argc, const Menu::arg *argv)
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#endif
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*/
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#if HIL_MODE != HIL_MODE_ATTITUDE
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static int8_t
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test_ins(uint8_t argc, const Menu::arg *argv)
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{
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@ -470,11 +451,10 @@ test_ins(uint8_t argc, const Menu::arg *argv)
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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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#endif // HIL_MODE
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#if HIL_MODE != HIL_MODE_ATTITUDE
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/*
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test the IMU interface
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*/
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@ -509,16 +489,15 @@ test_imu(uint8_t argc, const Menu::arg *argv)
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}
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return 0;
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}
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#endif // HIL_MODE
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#if HIL_MODE != HIL_MODE_ATTITUDE
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/*
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test the DCM code, printing Euler angles
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*/
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static int8_t
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test_dcm_eulers(uint8_t argc, const Menu::arg *argv)
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/*static int8_t
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//test_dcm_eulers(uint8_t argc, const Menu::arg *argv)
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{
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//Serial.printf_P(PSTR("Calibrating."));
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//dcm.kp_yaw(0.02);
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@ -570,12 +549,13 @@ test_dcm_eulers(uint8_t argc, const Menu::arg *argv)
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return (0);
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}
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}
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}
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#endif // HIL_MODE
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return (0);
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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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/*
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print_hit_enter();
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delay(1000);
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@ -602,6 +582,8 @@ test_gps(uint8_t argc, const Menu::arg *argv)
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return (0);
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}
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}
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*/
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return 0;
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}
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/*
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@ -757,6 +739,7 @@ test_tuning(uint8_t argc, const Menu::arg *argv)
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static int8_t
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test_current(uint8_t argc, const Menu::arg *argv)
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{
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print_hit_enter();
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//delta_ms_medium_loop = 100;
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@ -778,6 +761,7 @@ test_current(uint8_t argc, const Menu::arg *argv)
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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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/*
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@ -866,29 +850,33 @@ test_wp(uint8_t argc, const Menu::arg *argv)
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}
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*/
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#if HIL_MODE != HIL_MODE_ATTITUDE
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static int8_t
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test_baro(uint8_t argc, const Menu::arg *argv)
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{
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print_hit_enter();
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init_barometer();
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while(1){
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delay(100);
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int32_t alt = read_barometer(); /* calls barometer.read() */
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int32_t alt = read_barometer(); // calls barometer.read()
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int32_t pres = barometer.get_pressure();
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int16_t temp = barometer.get_temperature();
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int32_t raw_pres = barometer.get_raw_pressure();
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int32_t raw_temp = barometer.get_raw_temp();
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#if defined( __AVR_ATmega1280__ )
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Serial.printf_P(PSTR("alt: %ldcm\n"),alt);
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#else
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Serial.printf_P(PSTR("alt: %ldcm, pres: %ldmbar, temp: %d/100degC,"
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" raw pres: %ld, raw temp: %ld\n"),
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alt, pres ,temp, raw_pres, raw_temp);
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#endif
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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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#endif
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static int8_t
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@ -919,6 +907,7 @@ test_mag(uint8_t argc, const Menu::arg *argv)
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print_enabled(false);
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return (0);
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}
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return (0);
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}
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/*
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@ -964,7 +953,7 @@ test_mag(uint8_t argc, const Menu::arg *argv)
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/*
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test the sonar
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*/
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#if HIL_MODE != HIL_MODE_ATTITUDE && CONFIG_SONAR == ENABLED
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static int8_t
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test_sonar(uint8_t argc, const Menu::arg *argv)
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{
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@ -972,7 +961,7 @@ test_sonar(uint8_t argc, const Menu::arg *argv)
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Serial.printf_P(PSTR("Sonar disabled\n"));
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return (0);
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}
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// make sure sonar is initialised
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init_sonar();
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@ -990,13 +979,12 @@ test_sonar(uint8_t argc, const Menu::arg *argv)
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return (0);
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}
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#endif
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#ifdef OPTFLOW_ENABLED
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static int8_t
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test_optflow(uint8_t argc, const Menu::arg *argv)
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{
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///*
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#ifdef OPTFLOW_ENABLED
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if(g.optflow_enabled) {
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Serial.printf_P(PSTR("man id: %d\t"),optflow.read_register(ADNS3080_PRODUCT_ID));
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print_hit_enter();
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@ -1021,8 +1009,10 @@ test_optflow(uint8_t argc, const Menu::arg *argv)
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print_enabled(false);
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return (0);
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}
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#endif
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return (0);
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}
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#endif
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/*
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static int8_t
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