forked from Archive/PX4-Autopilot
56 lines
1.1 KiB
Plaintext
56 lines
1.1 KiB
Plaintext
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/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: t -*-
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/*
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send all possible mavlink messages
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Andrew Tridgell July 2011
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*/
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// AVR runtime
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#include <avr/io.h>
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#include <avr/eeprom.h>
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#include <avr/pgmspace.h>
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#include <math.h>
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// Libraries
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#include <FastSerial.h>
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#include <AP_Common.h>
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#include <GCS_MAVLink.h>
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#include "mavtest.h"
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FastSerialPort0(Serial); // FTDI/console
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FastSerialPort1(Serial1); // GPS port
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FastSerialPort3(Serial3); // Telemetry port
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#define SERIAL0_BAUD 115200
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#define SERIAL3_BAUD 115200
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void setup() {
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Serial.begin(SERIAL0_BAUD, 128, 128);
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Serial3.begin(SERIAL3_BAUD, 128, 128);
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mavlink_comm_0_port = &Serial;
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mavlink_comm_1_port = &Serial3;
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}
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void loop()
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{
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Serial.println("Starting MAVLink test generator\n");
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while (1) {
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mavlink_msg_heartbeat_send(
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MAVLINK_COMM_0,
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mavlink_system.type,
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MAV_AUTOPILOT_ARDUPILOTMEGA);
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mavlink_msg_heartbeat_send(
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MAVLINK_COMM_1,
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mavlink_system.type,
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MAV_AUTOPILOT_ARDUPILOTMEGA);
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mavtest_generate_outputs(MAVLINK_COMM_0);
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mavtest_generate_outputs(MAVLINK_COMM_1);
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delay(500);
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}
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}
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