Ardupilot2/libraries/AP_InertialSensor/examples/INS_generic/INS_generic.cpp

//
// Simple test for the AP_InertialSensor driver.
//

#include <AP_HAL/AP_HAL.h>
#include <AP_BoardConfig/AP_BoardConfig.h>
#include <AP_InertialSensor/AP_InertialSensor.h>
#include <AP_ExternalAHRS/AP_ExternalAHRS.h>
#include <AP_Logger/AP_Logger.h>

const AP_HAL::HAL &hal = AP_HAL::get_HAL();

static AP_InertialSensor ins;
#if HAL_EXTERNAL_AHRS_ENABLED
 static AP_ExternalAHRS eAHRS;
#endif // HAL_EXTERNAL_AHRS_ENABLED

static void display_offsets_and_scaling();
static void run_test();

// board specific config
static AP_BoardConfig BoardConfig;
static AP_Int32 log_bitmask;
static AP_Logger logger{log_bitmask};

void setup(void);
void loop(void);

void setup(void)
{
    // setup any board specific drivers
    BoardConfig.init();

    hal.console->begin(115200);
    hal.console->printf("AP_InertialSensor startup...\n");

    ins.init(100);

    // display initial values
    display_offsets_and_scaling();

    // display number of detected accels/gyros
    hal.console->printf("\n");
    hal.console->printf("Number of detected accels : %u\n", ins.get_accel_count());
    hal.console->printf("Number of detected gyros  : %u\n\n", ins.get_gyro_count());

    hal.console->printf("Complete. Reading:\n");
}

void loop(void)
{
    int16_t user_input;

    hal.console->printf("\n");
    hal.console->printf("%s\n",
    "Menu:\n"
    "    d) display offsets and scaling\n"
    "    l) level (capture offsets from level)\n"
    "    t) test\n"
    "    r) reboot");

    // wait for user input
    while (!hal.console->available()) {
        EXPECT_DELAY_MS(20);
        hal.scheduler->delay(20);
    }

    // read in user input
    while (hal.console->available()) {
        user_input = hal.console->read();

        if (user_input == 'd' || user_input == 'D') {
            display_offsets_and_scaling();
        }

        if (user_input == 't' || user_input == 'T') {
            run_test();
        }

        if (user_input == 'r') {
            hal.scheduler->reboot(false);
        }
    }
}

static void display_offsets_and_scaling()
{
    const Vector3f &accel_offsets = ins.get_accel_offsets();
    const Vector3f &accel_scale = ins.get_accel_scale();
    const Vector3f &gyro_offsets = ins.get_gyro_offsets();

    // display results
    hal.console->printf("\nAccel Offsets X:%10.8f \t Y:%10.8f \t Z:%10.8f\n",
                        (double)accel_offsets.x,
                        (double)accel_offsets.y,
                        (double)accel_offsets.z);
    hal.console->printf("Accel Scale X:%10.8f \t Y:%10.8f \t Z:%10.8f\n",
                        (double)accel_scale.x,
                        (double)accel_scale.y,
                        (double)accel_scale.z);
    hal.console->printf("Gyro Offsets X:%10.8f \t Y:%10.8f \t Z:%10.8f\n",
                        (double)gyro_offsets.x,
                        (double)gyro_offsets.y,
                        (double)gyro_offsets.z);
}

static void run_test()
{
    Vector3f accel;
    Vector3f gyro;
    uint8_t counter = 0;
    static uint8_t accel_count = ins.get_accel_count();
    static uint8_t gyro_count = ins.get_gyro_count();
    static uint8_t ins_count = MAX(accel_count, gyro_count);

    // flush any user input
    while (hal.console->available()) {
        EXPECT_DELAY_MS(20);
        hal.console->read();
    }

    // clear out any existing samples from ins
    ins.update();

    // loop as long as user does not press a key
    while (!hal.console->available()) {
        EXPECT_DELAY_MS(10);

        // wait until we have a sample
        ins.wait_for_sample();

        // read samples from ins
        ins.update();

        // print each accel/gyro result every 50 cycles
        if (counter++ % 50 != 0) {
            continue;
        }

        // loop and print each sensor
        for (uint8_t ii = 0; ii < ins_count; ii++) {
            char state;

            if (ii > accel_count - 1) {
                // No accel present
                state = '-';
            } else if (ins.get_accel_health(ii)) {
                // Healthy accel
                state = 'h';
            } else {
                // Accel present but not healthy
                state = 'u';
            }

            accel = ins.get_accel(ii);

            hal.console->printf("%u - Accel (%c) : X:%6.2f Y:%6.2f Z:%6.2f norm:%5.2f",
                                ii, state, (double)accel.x, (double)accel.y, (double)accel.z,
                                (double)accel.length());

            gyro = ins.get_gyro(ii);

            if (ii > gyro_count - 1) {
                // No gyro present
                state = '-';
            } else if (ins.get_gyro_health(ii)) {
                // Healthy gyro
                state = 'h';
            } else {
                // Gyro present but not healthy
                state = 'u';
            }

            hal.console->printf("   Gyro (%c) : X:%6.2f Y:%6.2f Z:%6.2f",
                                state, (double)gyro.x, (double)gyro.y, (double)gyro.z);
            auto temp = ins.get_temperature(ii);
            hal.console->printf("   t:%6.2f\n", (double)temp);
        }
    }

    // clear user input
    while (hal.console->available()) {
        hal.console->read();
    }
}

AP_HAL_MAIN();