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130 lines
2.9 KiB
130 lines
2.9 KiB
// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*- |
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// |
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// Simple test for the AP_AHRS interface |
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// |
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#include <AP_HAL.h> |
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#include <AP_Common.h> |
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#include <AP_Progmem.h> |
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#include <AP_Math.h> |
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#include <AP_Param.h> |
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#include <AP_InertialSensor.h> |
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#include <AP_ADC.h> |
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#include <AP_ADC_AnalogSource.h> |
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#include <AP_GPS.h> |
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#include <AP_AHRS.h> |
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#include <AP_Compass.h> |
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#include <AP_Declination.h> |
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#include <AP_Airspeed.h> |
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#include <AP_Baro.h> |
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#include <GCS_MAVLink.h> |
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#include <Filter.h> |
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#include <SITL.h> |
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#include <AP_Buffer.h> |
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#include <AP_Notify.h> |
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#include <AP_Vehicle.h> |
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#include <DataFlash.h> |
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#include <AP_HAL_AVR.h> |
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#include <AP_HAL_AVR_SITL.h> |
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#include <AP_HAL_Empty.h> |
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const AP_HAL::HAL& hal = AP_HAL_BOARD_DRIVER; |
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#if CONFIG_HAL_BOARD == HAL_BOARD_APM2 |
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AP_InertialSensor_MPU6000 ins; |
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#elif CONFIG_HAL_BOARD == HAL_BOARD_APM1 |
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AP_ADC_ADS7844 adc; |
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AP_InertialSensor_Oilpan ins( &adc ); |
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#else |
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AP_InertialSensor_HIL ins; |
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#endif |
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AP_Compass_HMC5843 compass; |
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GPS *g_gps; |
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AP_GPS_Auto g_gps_driver(&g_gps); |
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// choose which AHRS system to use |
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AP_AHRS_DCM ahrs(ins, g_gps); |
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AP_Baro_HIL barometer; |
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#define HIGH 1 |
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#define LOW 0 |
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void setup(void) |
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{ |
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#ifdef APM2_HARDWARE |
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// we need to stop the barometer from holding the SPI bus |
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hal.gpio->pinMode(40, GPIO_OUTPUT); |
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hal.gpio->write(40, HIGH); |
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#endif |
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ins.init(AP_InertialSensor::COLD_START, |
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AP_InertialSensor::RATE_100HZ); |
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ins.init_accel(); |
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ahrs.init(); |
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if( compass.init() ) { |
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hal.console->printf("Enabling compass\n"); |
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ahrs.set_compass(&compass); |
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} else { |
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hal.console->printf("No compass detected\n"); |
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} |
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g_gps = &g_gps_driver; |
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#if WITH_GPS |
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g_gps->init(hal.uartB); |
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#endif |
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} |
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void loop(void) |
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{ |
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static uint16_t counter; |
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static uint32_t last_t, last_print, last_compass; |
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uint32_t now = hal.scheduler->micros(); |
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float heading = 0; |
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if (last_t == 0) { |
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last_t = now; |
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return; |
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} |
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last_t = now; |
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if (now - last_compass > 100*1000UL && |
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compass.read()) { |
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heading = compass.calculate_heading(ahrs.get_dcm_matrix()); |
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// read compass at 10Hz |
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last_compass = now; |
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#if WITH_GPS |
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g_gps->update(); |
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#endif |
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} |
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ahrs.update(); |
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counter++; |
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if (now - last_print >= 100000 /* 100ms : 10hz */) { |
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Vector3f drift = ahrs.get_gyro_drift(); |
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hal.console->printf_P( |
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PSTR("r:%4.1f p:%4.1f y:%4.1f " |
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"drift=(%5.1f %5.1f %5.1f) hdg=%.1f rate=%.1f\n"), |
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ToDeg(ahrs.roll), |
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ToDeg(ahrs.pitch), |
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ToDeg(ahrs.yaw), |
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ToDeg(drift.x), |
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ToDeg(drift.y), |
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ToDeg(drift.z), |
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compass.use_for_yaw() ? ToDeg(heading) : 0.0, |
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(1.0e6*counter)/(now-last_print)); |
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last_print = now; |
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counter = 0; |
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} |
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} |
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AP_HAL_MAIN();
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