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AP_InertialSensor: updated VibTest for latest PX4 interfaces

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This commit is contained in:
Andrew Tridgell 2015-05-07 10:51:52 +10:00
parent 98df4fe60e
commit f5140e25b0
1 changed files with 41 additions and 22 deletions
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63
libraries/AP_InertialSensor/examples/VibTest/VibTest.pde
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@ -35,6 +35,9 @@
#include <AP_Notify.h>
#include <AP_NavEKF.h>
#include <AP_BattMonitor.h>
#include <AP_RangeFinder.h>
#include <AP_Rally.h>
#if CONFIG_HAL_BOARD == HAL_BOARD_PX4
#include <drivers/drv_accel.h>
@ -95,10 +98,10 @@ static const struct LogStructure log_structure[] PROGMEM = {
void setup(void)
{
for (uint8_t i=0; i<INS_MAX_INSTANCES; i++) {
char accel_path[] = ACCEL_DEVICE_PATH "n";
char gyro_path[] = GYRO_DEVICE_PATH "n";
accel_path[strlen(accel_path)-1] = (i==0?0:'1'+(i-1));
gyro_path[strlen(gyro_path)-1] = (i==0?0:'1'+(i-1));
char accel_path[] = ACCEL_BASE_DEVICE_PATH "n";
char gyro_path[] = GYRO_BASE_DEVICE_PATH "n";
accel_path[strlen(accel_path)-1] = '0'+i;
gyro_path[strlen(gyro_path)-1] = '0'+i;
accel_fd[i] = open(accel_path, O_RDONLY);
gyro_fd[i] = open(gyro_path, O_RDONLY);
}
@ -106,19 +109,31 @@ void setup(void)
hal.scheduler->panic("Failed to open accel/gyro 0");
}
for (uint8_t i=0; i<INS_MAX_INSTANCES; i++) {
// disable software filtering
if (accel_fd[i] != -1) {
ioctl(accel_fd[i], ACCELIOCSLOWPASS, 0);
ioctl(accel_fd[i], SENSORIOCSQUEUEDEPTH, 100);
::printf("Setup accel[%u] OK\n", i);
}
if (gyro_fd[i] != -1) {
ioctl(gyro_fd[i], GYROIOCSLOWPASS, 0);
ioctl(gyro_fd[i], SENSORIOCSQUEUEDEPTH, 100);
::printf("Setup gyro[%u] OK\n", i);
}
}
ioctl(gyro_fd[0], SENSORIOCSPOLLRATE, 1000);
ioctl(gyro_fd[0], GYROIOCSLOWPASS, 0);
ioctl(gyro_fd[0], GYROIOCSHWLOWPASS, 256);
ioctl(gyro_fd[0], GYROIOCSSAMPLERATE, 1000);
ioctl(gyro_fd[0], SENSORIOCSQUEUEDEPTH, 100);
ioctl(gyro_fd[1], SENSORIOCSPOLLRATE, 800);
ioctl(gyro_fd[1], GYROIOCSLOWPASS, 0);
ioctl(gyro_fd[1], GYROIOCSHWLOWPASS, 100);
ioctl(gyro_fd[1], GYROIOCSSAMPLERATE, 800);
ioctl(gyro_fd[1], SENSORIOCSQUEUEDEPTH, 100);
ioctl(accel_fd[0], SENSORIOCSPOLLRATE, 1000);
ioctl(accel_fd[0], ACCELIOCSLOWPASS, 0);
ioctl(accel_fd[0], ACCELIOCSRANGE, 16);
ioctl(accel_fd[0], ACCELIOCSHWLOWPASS, 256);
ioctl(accel_fd[0], ACCELIOCSSAMPLERATE, 1000);
ioctl(accel_fd[0], SENSORIOCSQUEUEDEPTH, 100);
ioctl(accel_fd[1], SENSORIOCSPOLLRATE, 1600);
ioctl(accel_fd[1], ACCELIOCSLOWPASS, 0);
ioctl(accel_fd[1], ACCELIOCSRANGE, 16);
ioctl(accel_fd[1], ACCELIOCSHWLOWPASS, 194);
ioctl(accel_fd[1], ACCELIOCSSAMPLERATE, 1600);
ioctl(accel_fd[1], SENSORIOCSQUEUEDEPTH, 100);
DataFlash.Init(log_structure, sizeof(log_structure)/sizeof(log_structure[0]));
DataFlash.StartNewLog();
@ -187,10 +202,14 @@ void loop(void)
if (total_samples[0] % 2000 == 0 && last_print != total_samples[0]) {
last_print = total_samples[0];
hal.console->printf("t=%lu total_samples=%lu/%lu/%lu adt=%u:%u/%u:%u/%u:%u gdt=%u:%u/%u:%u/%u:%u\n",
hal.scheduler->millis(),
total_samples[0], total_samples[1],total_samples[2],
accel_deltat_min[0], accel_deltat_max[0],
accel_deltat_min[1], accel_deltat_max[1],
(unsigned long)hal.scheduler->millis(),
(unsigned long)total_samples[0],
(unsigned long)total_samples[1],
(unsigned long)total_samples[2],
accel_deltat_min[0],
accel_deltat_max[0],
accel_deltat_min[1],
accel_deltat_max[1],
accel_deltat_min[2], accel_deltat_max[2],
gyro_deltat_min[0], gyro_deltat_max[0],
gyro_deltat_min[1], gyro_deltat_max[1],
@ -214,7 +233,7 @@ void loop(void)
}
}
} while (got_sample);
hal.scheduler->delay_microseconds(200);
hal.scheduler->delay_microseconds(100);
}
#else