Test for new nav function

ArduCopter/test.pde

@@ -15,6 +15,8 @@ static int8_t	test_imu(uint8_t argc, 			const Menu::arg *argv);
 //static int8_t	test_dcm(uint8_t argc, 			const Menu::arg *argv);
 //static int8_t	test_omega(uint8_t argc, 		const Menu::arg *argv);
 static int8_t	test_battery(uint8_t argc, 		const Menu::arg *argv);
+//static int8_t	test_nav(uint8_t argc, 			const Menu::arg *argv);
+
 //static int8_t	test_wp_nav(uint8_t argc, 		const Menu::arg *argv);
 //static int8_t	test_reverse(uint8_t argc, 		const Menu::arg *argv);
 static int8_t	test_tuning(uint8_t argc, 		const Menu::arg *argv);
@@ -69,6 +71,7 @@ const struct Menu::command test_menu_commands[] PROGMEM = {
 	{"current",		test_current},
 	{"relay",		test_relay},
 	{"waypoints",	test_wp},
+	//{"nav",			test_nav},
 #if HIL_MODE != HIL_MODE_ATTITUDE
 	{"altitude",	test_baro},
 #endif
@@ -170,6 +173,39 @@ test_tri(uint8_t argc, const Menu::arg *argv)
 	}
 }
 
+/*
+static int8_t
+test_nav(uint8_t argc, const Menu::arg *argv)
+{
+	print_hit_enter();
+	delay(1000);
+
+	while(1){
+		delay(1000);
+		g_gps->ground_course = 19500;
+		calc_nav_rate2(g.waypoint_speed_max);
+		calc_nav_pitch_roll2();
+
+		g_gps->ground_course = 28500;
+		calc_nav_rate2(g.waypoint_speed_max);
+		calc_nav_pitch_roll2();
+
+		g_gps->ground_course = 1500;
+		calc_nav_rate2(g.waypoint_speed_max);
+		calc_nav_pitch_roll2();
+
+		g_gps->ground_course = 10500;
+		calc_nav_rate2(g.waypoint_speed_max);
+		calc_nav_pitch_roll2();
+
+
+		//if(Serial.available() > 0){
+			return (0);
+		//}
+	}
+}
+*/
+
 static int8_t
 test_radio(uint8_t argc, const Menu::arg *argv)
 {