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59 lines
1.4 KiB
59 lines
1.4 KiB
/* |
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generic Baro driver test |
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*/ |
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#include <AP_HAL/AP_HAL.h> |
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#include <AP_Baro/AP_Baro.h> |
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const AP_HAL::HAL& hal = AP_HAL::get_HAL(); |
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static AP_Baro barometer; |
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static uint32_t timer; |
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static uint8_t counter; |
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void setup() |
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{ |
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hal.console->println("Barometer library test"); |
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hal.scheduler->delay(1000); |
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barometer.init(); |
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barometer.calibrate(); |
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timer = AP_HAL::micros(); |
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} |
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void loop() |
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{ |
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// run accumulate() at 50Hz and update() at 10Hz |
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if((AP_HAL::micros() - timer) > 20*1000UL) { |
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timer = AP_HAL::micros(); |
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barometer.accumulate(); |
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if (counter++ < 5) { |
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return; |
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} |
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counter = 0; |
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barometer.update(); |
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uint32_t read_time = AP_HAL::micros() - timer; |
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float alt = barometer.get_altitude(); |
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if (!barometer.healthy()) { |
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hal.console->println("not healthy"); |
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return; |
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} |
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hal.console->print("Pressure:"); |
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hal.console->print(barometer.get_pressure()); |
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hal.console->print(" Temperature:"); |
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hal.console->print(barometer.get_temperature()); |
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hal.console->print(" Altitude:"); |
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hal.console->print(alt); |
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hal.console->printf(" climb=%.2f t=%u", |
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barometer.get_climb_rate(), |
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(unsigned)read_time); |
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hal.console->println(); |
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} else { |
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hal.scheduler->delay(1); |
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} |
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} |
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AP_HAL_MAIN();
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