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94 lines
2.7 KiB
94 lines
2.7 KiB
/* |
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generic Baro driver test |
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*/ |
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#include <AP_Common/AP_Common.h> |
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#include <AP_Progmem/AP_Progmem.h> |
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#include <AP_Param/AP_Param.h> |
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#include <AP_Math/AP_Math.h> |
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#include <AP_HAL/AP_HAL.h> |
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#include <AP_Buffer/AP_Buffer.h> |
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#include <Filter/Filter.h> |
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#include <AP_Baro/AP_Baro.h> |
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#include <AP_Notify/AP_Notify.h> |
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#include <AP_GPS/AP_GPS.h> |
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#include <GCS_MAVLink/GCS_MAVLink.h> |
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#include <AP_Vehicle/AP_Vehicle.h> |
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#include <DataFlash/DataFlash.h> |
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#include <AP_InertialSensor/AP_InertialSensor.h> |
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#include <AP_Mission/AP_Mission.h> |
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#include <StorageManager/StorageManager.h> |
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#include <AP_Terrain/AP_Terrain.h> |
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#include <AP_ADC/AP_ADC.h> |
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#include <AP_ADC_AnalogSource/AP_ADC_AnalogSource.h> |
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#include <AP_AHRS/AP_AHRS.h> |
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#include <AP_Compass/AP_Compass.h> |
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#include <AP_Declination/AP_Declination.h> |
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#include <AP_Airspeed/AP_Airspeed.h> |
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#include <AP_HAL_AVR/AP_HAL_AVR.h> |
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#include <AP_HAL_SITL/AP_HAL_SITL.h> |
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#include <AP_HAL_Linux/AP_HAL_Linux.h> |
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#include <AP_HAL_FLYMAPLE/AP_HAL_FLYMAPLE.h> |
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#include <AP_HAL_PX4/AP_HAL_PX4.h> |
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#include <AP_HAL_Empty/AP_HAL_Empty.h> |
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#include <AP_Rally/AP_Rally.h> |
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#include <AP_NavEKF/AP_NavEKF.h> |
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#include <AP_Scheduler/AP_Scheduler.h> |
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#include <AP_BattMonitor/AP_BattMonitor.h> |
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#include <AP_RangeFinder/AP_RangeFinder.h> |
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const AP_HAL::HAL& hal = AP_HAL_BOARD_DRIVER; |
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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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#if CONFIG_HAL_BOARD == HAL_BOARD_APM2 |
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// disable CS on MPU6000 |
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hal.gpio->pinMode(63, HAL_GPIO_OUTPUT); |
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hal.gpio->write(63, 1); |
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#endif |
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barometer.init(); |
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barometer.calibrate(); |
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timer = hal.scheduler->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((hal.scheduler->micros() - timer) > 20*1000UL) { |
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timer = hal.scheduler->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 = hal.scheduler->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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} |
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} |
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AP_HAL_MAIN();
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