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51 lines
1.3 KiB
51 lines
1.3 KiB
/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*- |
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/* |
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* Airspeed.pde - airspeed example sketch |
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* |
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* This library is free software; you can redistribute it and/or |
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* modify it under the terms of the GNU Lesser General Public License |
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* as published by the Free Software Foundation; either version 2.1 |
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* of the License, or (at your option) any later version. |
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*/ |
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#include <FastSerial.h> |
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#include <AP_Common.h> |
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#include <AP_Math.h> |
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#include <AP_AnalogSource.h> |
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#include <AP_AnalogSource_Arduino.h> |
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#include <Arduino_Mega_ISR_Registry.h> |
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#include <AP_PeriodicProcess.h> |
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#include <Filter.h> |
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#include <AP_Airspeed.h> |
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Arduino_Mega_ISR_Registry isr_registry; |
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AP_TimerProcess scheduler; |
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FastSerialPort0(Serial); |
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AP_AnalogSource_Arduino pin0(0); |
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AP_Airspeed airspeed(&pin0); |
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void setup() |
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{ |
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Serial.begin(115200, 128, 128); |
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Serial.println("ArduPilot Airspeed library test"); |
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isr_registry.init(); |
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scheduler.init(&isr_registry); |
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AP_AnalogSource_Arduino::init_timer(&scheduler); |
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pinMode(0, INPUT); |
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airspeed.calibrate(delay); |
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} |
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void loop(void) |
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{ |
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static uint32_t timer; |
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if((millis() - timer) > 100) { |
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timer = millis(); |
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airspeed.read(); |
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Serial.printf("airspeed %.2f\n", airspeed.get_airspeed()); |
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} |
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}
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