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170 lines
3.8 KiB
170 lines
3.8 KiB
// -*- 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_AHRS interface |
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// |
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#include <FastSerial.h> |
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#include <SPI.h> |
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#include <I2C.h> |
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#include <Arduino_Mega_ISR_Registry.h> |
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#include <AP_PeriodicProcess.h> |
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#include <AP_InertialSensor.h> |
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#include <AP_ADC.h> |
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#include <AP_GPS.h> |
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#include <AP_AHRS.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 <AP_Common.h> |
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#include <AP_Param.h> |
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#include <AP_Compass.h> |
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#include <AP_Airspeed.h> |
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#include <AP_Baro.h> |
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#include <AP_Semaphore.h> |
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#include <DataFlash.h> |
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#include <APM_RC.h> |
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#include <GCS_MAVLink.h> |
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#include <Filter.h> |
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#include <AP_Buffer.h> |
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// uncomment this for a APM2 board |
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#define APM2_HARDWARE |
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#define WITH_GPS 0 |
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FastSerialPort0(Serial); |
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FastSerialPort1(Serial1); |
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Arduino_Mega_ISR_Registry isr_registry; |
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AP_TimerProcess scheduler; |
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#ifdef DESKTOP_BUILD |
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AP_Compass_HIL compass; |
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#else |
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AP_Compass_HMC5843 compass; |
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#endif |
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#ifdef APM2_HARDWARE |
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AP_InertialSensor_MPU6000 ins; |
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# else |
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AP_ADC_ADS7844 adc; |
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AP_InertialSensor_Oilpan ins( &adc ); |
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#endif |
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static GPS *g_gps; |
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AP_GPS_Auto g_gps_driver(&Serial1, &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_AHRS_MPU6000 ahrs(&ins, g_gps); // only works with APM2 |
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AP_Baro_BMP085_HIL barometer; |
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#ifdef APM2_HARDWARE |
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# define A_LED_PIN 27 |
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# define C_LED_PIN 25 |
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# define LED_ON LOW |
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# define LED_OFF HIGH |
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# define MAG_ORIENTATION AP_COMPASS_APM2_SHIELD |
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#else |
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# define A_LED_PIN 37 |
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# define C_LED_PIN 35 |
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# define LED_ON HIGH |
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# define LED_OFF LOW |
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# define MAG_ORIENTATION AP_COMPASS_COMPONENTS_DOWN_PINS_FORWARD |
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#endif |
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static void flash_leds(bool on) |
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{ |
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digitalWrite(A_LED_PIN, on ? LED_OFF : LED_ON); |
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digitalWrite(C_LED_PIN, on ? LED_ON : LED_OFF); |
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} |
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void setup(void) |
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{ |
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Serial.begin(115200); |
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Serial.println("Starting up..."); |
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#ifndef DESKTOP_BUILD |
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I2c.begin(); |
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I2c.timeOut(5); |
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I2c.setSpeed(true); |
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#endif |
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SPI.begin(); |
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SPI.setClockDivider(SPI_CLOCK_DIV16); |
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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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pinMode(40, OUTPUT); |
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digitalWrite(40, HIGH); |
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#endif |
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isr_registry.init(); |
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scheduler.init(&isr_registry); |
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ins.init(AP_InertialSensor::COLD_START, |
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AP_InertialSensor::RATE_100HZ, |
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delay, flash_leds, &scheduler); |
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ins.init_accel(delay, flash_leds); |
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compass.set_orientation(MAG_ORIENTATION); |
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ahrs.init(); |
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if( compass.init() ) { |
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Serial.printf("Enabling compass\n"); |
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ahrs.set_compass(&compass); |
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} else { |
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Serial.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(); |
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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 = 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 >= 0.5e6) { |
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Vector3f drift = ahrs.get_gyro_drift(); |
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Serial.printf_P(PSTR("r:%4.1f p:%4.1f y:%4.1f 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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