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38 lines
752 B
38 lines
752 B
// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: t -*- |
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// |
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// Simple test for the AP_IMU driver. |
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// |
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#include <FastSerial.h> |
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#include <AP_IMU.h> |
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#include <AP_ADC.h> |
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#include <AP_Math.h> |
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#include <AP_Common.h> |
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FastSerialPort(Serial, 0); |
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AP_ADC_ADS7844 adc; |
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AP_IMU_Oilpan imu(&adc, 0); // disable warm-start for now |
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void setup(void) |
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{ |
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Serial.begin(38400); |
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Serial.println("Doing IMU startup..."); |
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adc.Init(); |
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imu.init(IMU::COLD_START); |
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} |
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void loop(void) |
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{ |
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Vector3f accel; |
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Vector3f gyro; |
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delay(1000); |
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imu.update(); |
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accel = imu.get_accel(); |
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gyro = imu.get_gyro(); |
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Serial.printf("AX: 0x%4.4f AY: 0x%4.4f AZ: 0x%4.4f GX: 0x%4.4f GY: 0x%4.4f GZ: 0x%4.4f\n", |
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accel.x, accel.y, accel.z, gyro.x, gyro.y, gyro.z); |
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}
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