104 lines
2.5 KiB
C++
104 lines
2.5 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_Logger/AP_Logger.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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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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#define GOBJECT(v, name, class) { AP_PARAM_GROUP, name, Parameters::k_param_ ## v, (const void *)&v, {group_info : class::var_info} }
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const struct AP_Param::Info var_info[] = {
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// GOBJECT(serial_manager, "SERIAL", AP_SerialManager),
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{ AP_PARAM_GROUP, "SERIAL", Parameters::k_param_serial_manager, (const void *)&serial_manager, {group_info : AP_SerialManager::var_info} },
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AP_VAREND
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};
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static AP_BoardConfig board_config;
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static AP_InertialSensor ins;
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static Compass compass;
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static AP_Param param{var_info};
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static AP_GPS gps;
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static AP_Baro barometer;
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AP_Int32 logger_bitmask;
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static AP_Logger logger{logger_bitmask};
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class DummyVehicle {
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public:
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AP_AHRS_NavEKF ahrs{AP_AHRS_NavEKF::FLAG_ALWAYS_USE_EKF};
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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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board_config.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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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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compass.init();
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if(compass.read()) {
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hal.console->printf("Enabling compass\n");
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vehicle.ahrs.set_compass(&compass);
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} else {
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hal.console->printf("No compass detected\n");
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}
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gps.init(serial_manager);
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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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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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