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85 lines
2.5 KiB
85 lines
2.5 KiB
/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*- |
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/* |
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This program is free software: you can redistribute it and/or modify |
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it under the terms of the GNU General Public License as published by |
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the Free Software Foundation, either version 3 of the License, or |
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(at your option) any later version. |
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This program is distributed in the hope that it will be useful, |
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but WITHOUT ANY WARRANTY; without even the implied warranty of |
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |
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GNU General Public License for more details. |
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You should have received a copy of the GNU General Public License |
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along with this program. If not, see <http://www.gnu.org/licenses/>. |
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*/ |
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/* |
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* Airspeed.pde - airspeed example sketch |
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* |
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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_HAL_AVR/AP_HAL_AVR.h> |
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#include <AP_HAL_Linux/AP_HAL_Linux.h> |
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#include <AP_HAL_Empty/AP_HAL_Empty.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 <Filter/Filter.h> |
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#include <AP_Buffer/AP_Buffer.h> |
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#include <AP_Airspeed/AP_Airspeed.h> |
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#include <AP_Vehicle/AP_Vehicle.h> |
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#include <AP_Notify/AP_Notify.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_AHRS/AP_AHRS.h> |
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#include <AP_NavEKF/AP_NavEKF.h> |
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#include <AP_Terrain/AP_Terrain.h> |
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#include <DataFlash/DataFlash.h> |
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#include <AP_Baro/AP_Baro.h> |
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#include <GCS_MAVLink/GCS_MAVLink.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_GPS/AP_GPS.h> |
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#include <AP_InertialSensor/AP_InertialSensor.h> |
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#include <AP_BattMonitor/AP_BattMonitor.h> |
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#include <AP_Rally/AP_Rally.h> |
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#include <AP_RangeFinder/AP_RangeFinder.h> |
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#if CONFIG_HAL_BOARD == HAL_BOARD_APM1 |
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AP_ADC_ADS7844 apm1_adc; |
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#endif |
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const AP_HAL::HAL& hal = AP_HAL_BOARD_DRIVER; |
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static AP_Vehicle::FixedWing aparm; |
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AP_Airspeed airspeed(aparm); |
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void setup() |
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{ |
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hal.console->println("ArduPilot Airspeed library test"); |
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AP_Param::set_object_value(&airspeed, airspeed.var_info, "_PIN", 65); |
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airspeed.init(); |
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airspeed.calibrate(false); |
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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((hal.scheduler->millis() - timer) > 100) { |
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timer = hal.scheduler->millis(); |
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airspeed.read(); |
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hal.console->printf("airspeed %.2f\n", airspeed.get_airspeed()); |
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} |
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hal.scheduler->delay(1); |
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} |
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AP_HAL_MAIN();
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