forked from Archive/PX4-Autopilot
Added amplitude frequency to md25sine command.
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@ -560,7 +560,7 @@ int md25Test(const char *deviceName, uint8_t bus, uint8_t address)
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return 0;
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}
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int md25Sine(const char *deviceName, uint8_t bus, uint8_t address)
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int md25Sine(const char *deviceName, uint8_t bus, uint8_t address, float amplitude, float frequency)
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{
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printf("md25 sine: starting\n");
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@ -576,9 +576,7 @@ int md25Sine(const char *deviceName, uint8_t bus, uint8_t address)
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md25.setSpeedRegulation(true);
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md25.setTimeout(true);
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float dt = 0.01;
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float amplitude = 0.5;
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float frequency = 1.0;
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float t_final = 120.0;
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float t_final = 60.0;
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float prev_revolution = md25.getRevolutions1();
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// debug publication
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@ -599,8 +597,6 @@ int md25Sine(const char *deviceName, uint8_t bus, uint8_t address)
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// output
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md25.readData();
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float current_revolution = md25.getRevolutions1();
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float output_speed_rpm = 60*(current_revolution - prev_revolution)/dt;
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mavlink_log_info(mavlink_fd, "rpm: %10.4f\n", (double)output_speed_rpm);
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// send input message
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//strncpy(debug_msg.key, "md25 in ", 10);
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@ -611,8 +607,7 @@ int md25Sine(const char *deviceName, uint8_t bus, uint8_t address)
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// send output message
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strncpy(debug_msg.key, "md25 out ", 10);
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debug_msg.timestamp_ms = 1000*timestamp;
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debug_msg.value = current_revolution - prev_revolution;
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//debug_msg.value = output_speed_rpm;
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debug_msg.value = current_revolution;
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debug_msg.update();
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if (t > t_final) break;
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@ -291,6 +291,6 @@ private:
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int md25Test(const char *deviceName, uint8_t bus, uint8_t address);
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// sine testing
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int md25Sine(const char *deviceName, uint8_t bus, uint8_t address);
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int md25Sine(const char *deviceName, uint8_t bus, uint8_t address, float amplitude, float frequency);
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// vi:noet:smarttab:autoindent:ts=4:sw=4:tw=78
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@ -139,7 +139,7 @@ int md25_main(int argc, char *argv[])
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if (!strcmp(argv[1], "sine")) {
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if (argc < 4) {
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printf("usage: md25 sine bus address\n");
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printf("usage: md25 sine bus address amp freq\n");
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exit(0);
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}
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@ -149,7 +149,11 @@ int md25_main(int argc, char *argv[])
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uint8_t address = strtoul(argv[3], nullptr, 0);
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md25Sine(deviceName, bus, address);
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float amplitude = atof(argv[4]);
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float frequency = atof(argv[5]);
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md25Sine(deviceName, bus, address, amplitude, frequency);
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exit(0);
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}
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