101 lines
2.4 KiB
C++
101 lines
2.4 KiB
C++
//
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// Simple test for the AP_AHRS NMEA output
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//
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#include <AP_AHRS/AP_AHRS.h>
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#include <AP_HAL/AP_HAL.h>
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#include <AP_Param/AP_Param.h>
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#include <AP_BoardConfig/AP_BoardConfig.h>
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#include <GCS_MAVLink/GCS_Dummy.h>
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#include <AP_RangeFinder/AP_RangeFinder.h>
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#include <AP_GPS/AP_GPS.h>
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#include <AP_Baro/AP_Baro.h>
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#include <AP_NMEA_Output/AP_NMEA_Output.h>
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#include <AP_SerialManager/AP_SerialManager.h>
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#include <AP_Vehicle/AP_Vehicle.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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class Parameters {
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public:
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enum {
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k_param_serial_manager = 1, // serial manager library
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};
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};
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static AP_SerialManager serial_manager;
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const struct AP_Param::Info var_info[] = {
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{ "SERIAL", (const void *)&serial_manager, {group_info : AP_SerialManager::var_info}, 0, Parameters::k_param_serial_manager, AP_PARAM_GROUP },
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AP_VAREND
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};
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static AP_Param param{var_info};
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class DummyVehicle : public AP_Vehicle {
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public:
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AP_AHRS ahrs{AP_AHRS::FLAG_ALWAYS_USE_EKF};
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bool set_mode(const uint8_t new_mode, const ModeReason reason) override { return true; };
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uint8_t get_mode() const override { return 1; };
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void get_scheduler_tasks(const AP_Scheduler::Task *&tasks, uint8_t &task_count, uint32_t &log_bit) override {};
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void init_ardupilot() override {};
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void load_parameters() override {};
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void init() {
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BoardConfig.init();
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}
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};
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static DummyVehicle vehicle;
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void setup(void)
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{
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vehicle.init();
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if (!AP_Param::setup()) {
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hal.console->printf("Failed to call setup\n");
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while(true);
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}
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if (!AP_Param::set_by_name("SERIAL0_PROTOCOL", AP_SerialManager::SerialProtocol_NMEAOutput)) {
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hal.console->printf("Failed to set SERIAL0_PROTOCOL\n");
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while(true);
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}
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AP::ins().init(100);
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serial_manager.init_console();
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serial_manager.init();
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vehicle.ahrs.init();
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AP::compass().init();
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if(!AP::compass().read()) {
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hal.console->printf("No compass detected\n");
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}
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AP::gps().init();
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AP::rtc().set_utc_usec(1546300800000, AP_RTC::source_type::SOURCE_GPS);
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}
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void loop(void)
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{
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static uint32_t last_compass;
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const uint32_t now = AP_HAL::micros();
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// read compass at 10Hz
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if (now - last_compass > 100 * 1000UL &&
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AP::compass().read()) {
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last_compass = now;
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}
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vehicle.ahrs.update();
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}
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const AP_Param::GroupInfo GCS_MAVLINK_Parameters::var_info[] = {
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AP_GROUPEND
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};
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GCS_Dummy _gcs;
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AP_HAL_MAIN();
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