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zr-v4/APMrover2/test.cpp

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#include "Rover.h"
#if CLI_ENABLED == ENABLED
// Creates a constant array of structs representing menu options
// and stores them in Flash memory, not RAM.
// User enters the string in the console to call the functions on the right.
// See class Menu in AP_Common for implementation details
static const struct Menu::command test_menu_commands[] = {
{"pwm", MENU_FUNC(test_radio_pwm)},
{"radio", MENU_FUNC(test_radio)},
{"passthru", MENU_FUNC(test_passthru)},
{"failsafe", MENU_FUNC(test_failsafe)},
{"relay", MENU_FUNC(test_relay)},
{"waypoints", MENU_FUNC(test_wp)},
{"modeswitch", MENU_FUNC(test_modeswitch)},
// Tests below here are for hardware sensors only present
// when real sensors are attached or they are emulated
{"gps", MENU_FUNC(test_gps)},
{"ins", MENU_FUNC(test_ins)},
{"sonartest", MENU_FUNC(test_sonar)},
{"compass", MENU_FUNC(test_mag)},
{"logging", MENU_FUNC(test_logging)},
#if CONFIG_HAL_BOARD == HAL_BOARD_PX4 || CONFIG_HAL_BOARD == HAL_BOARD_VRBRAIN
{"shell", MENU_FUNC(test_shell)},
#endif
};
// A Macro to create the Menu
MENU(test_menu, "test", test_menu_commands);
int8_t Rover::test_mode(uint8_t argc, const Menu::arg *argv)
{
cliSerial->printf("Test Mode\n\n");
test_menu.run();
return 0;
}
void Rover::print_hit_enter()
{
cliSerial->printf("Hit Enter to exit.\n\n");
}
int8_t Rover::test_radio_pwm(uint8_t argc, const Menu::arg *argv)
{
print_hit_enter();
delay(1000);
while(1){
delay(20);
// Filters radio input - adjust filters in the radio.cpp file
// ----------------------------------------------------------
read_radio();
cliSerial->printf("IN:\t1: %d\t2: %d\t3: %d\t4: %d\t5: %d\t6: %d\t7: %d\t8: %d\n",
channel_steer->get_radio_in(),
g.rc_2.get_radio_in(),
channel_throttle->get_radio_in(),
g.rc_4.get_radio_in(),
g.rc_5.get_radio_in(),
g.rc_6.get_radio_in(),
g.rc_7.get_radio_in(),
g.rc_8.get_radio_in());
if(cliSerial->available() > 0){
return (0);
}
}
}
int8_t Rover::test_passthru(uint8_t argc, const Menu::arg *argv)
{
print_hit_enter();
delay(1000);
while(1){
delay(20);
// New radio frame? (we could use also if((millis()- timer) > 20)
if (hal.rcin->new_input()) {
cliSerial->print("CH:");
for(int i = 0; i < 8; i++){
cliSerial->print(hal.rcin->read(i)); // Print channel values
cliSerial->print(",");
hal.rcout->write(i, hal.rcin->read(i)); // Copy input to Servos
}
cliSerial->println();
}
if (cliSerial->available() > 0){
return (0);
}
}
return 0;
}
int8_t Rover::test_radio(uint8_t argc, const Menu::arg *argv)
{
print_hit_enter();
delay(1000);
// read the radio to set trims
// ---------------------------
trim_radio();
while(1){
delay(20);
read_radio();
channel_steer->calc_pwm();
channel_throttle->calc_pwm();
// write out the servo PWM values
// ------------------------------
set_servos();
cliSerial->printf("IN 1: %d\t2: %d\t3: %d\t4: %d\t5: %d\t6: %d\t7: %d\t8: %d\n",
channel_steer->get_control_in(),
g.rc_2.get_control_in(),
channel_throttle->get_control_in(),
g.rc_4.get_control_in(),
g.rc_5.get_control_in(),
g.rc_6.get_control_in(),
g.rc_7.get_control_in(),
g.rc_8.get_control_in());
if(cliSerial->available() > 0){
return (0);
}
}
}
int8_t Rover::test_failsafe(uint8_t argc, const Menu::arg *argv)
{
uint8_t fail_test = 0;
print_hit_enter();
for(int i = 0; i < 50; i++){
delay(20);
read_radio();
}
// read the radio to set trims
// ---------------------------
trim_radio();
oldSwitchPosition = readSwitch();
cliSerial->printf("Unplug battery, throttle in neutral, turn off radio.\n");
while(channel_throttle->get_control_in() > 0){
delay(20);
read_radio();
}
while(1){
delay(20);
read_radio();
if(channel_throttle->get_control_in() > 0){
cliSerial->printf("THROTTLE CHANGED %d \n", channel_throttle->get_control_in());
fail_test++;
}
if (oldSwitchPosition != readSwitch()){
cliSerial->printf("CONTROL MODE CHANGED: ");
print_mode(cliSerial, readSwitch());
cliSerial->println();
fail_test++;
}
if(throttle_failsafe_active()) {
cliSerial->printf("THROTTLE FAILSAFE ACTIVATED: %d, ", channel_throttle->get_radio_in());
print_mode(cliSerial, readSwitch());
cliSerial->println();
fail_test++;
}
if(fail_test > 0){
return (0);
}
if(cliSerial->available() > 0){
cliSerial->printf("LOS caused no change in APM.\n");
return (0);
}
}
}
int8_t Rover::test_relay(uint8_t argc, const Menu::arg *argv)
{
print_hit_enter();
delay(1000);
while(1){
cliSerial->printf("Relay on\n");
relay.on(0);
delay(3000);
if(cliSerial->available() > 0){
return (0);
}
cliSerial->printf("Relay off\n");
relay.off(0);
delay(3000);
if(cliSerial->available() > 0){
return (0);
}
}
}
int8_t Rover::test_wp(uint8_t argc, const Menu::arg *argv)
{
delay(1000);
cliSerial->printf("%u waypoints\n", (unsigned)mission.num_commands());
cliSerial->printf("Hit radius: %f\n", (double)g.waypoint_radius.get());
for(uint8_t i = 0; i < mission.num_commands(); i++){
AP_Mission::Mission_Command temp_cmd;
if (mission.read_cmd_from_storage(i,temp_cmd)) {
test_wp_print(temp_cmd);
}
}
return (0);
}
void Rover::test_wp_print(const AP_Mission::Mission_Command& cmd)
{
cliSerial->printf("command #: %d id:%d options:%d p1:%d p2:%ld p3:%ld p4:%ld \n",
(int)cmd.index,
(int)cmd.id,
(int)cmd.content.location.options,
(int)cmd.p1,
(long)cmd.content.location.alt,
(long)cmd.content.location.lat,
(long)cmd.content.location.lng);
}
int8_t Rover::test_modeswitch(uint8_t argc, const Menu::arg *argv)
{
print_hit_enter();
delay(1000);
cliSerial->printf("Control CH ");
cliSerial->println(MODE_CHANNEL, BASE_DEC);
while(1){
delay(20);
uint8_t switchPosition = readSwitch();
if (oldSwitchPosition != switchPosition){
cliSerial->printf("Position %d\n", switchPosition);
oldSwitchPosition = switchPosition;
}
if(cliSerial->available() > 0){
return (0);
}
}
}
/*
test the dataflash is working
*/
int8_t Rover::test_logging(uint8_t argc, const Menu::arg *argv)
{
cliSerial->println("Testing dataflash logging");
DataFlash.ShowDeviceInfo(cliSerial);
return 0;
}
//-------------------------------------------------------------------------------------------
// tests in this section are for real sensors or sensors that have been simulated
int8_t Rover::test_gps(uint8_t argc, const Menu::arg *argv)
{
print_hit_enter();
delay(1000);
uint32_t last_message_time_ms = 0;
while(1) {
delay(100);
gps.update();
if (gps.last_message_time_ms() != last_message_time_ms) {
last_message_time_ms = gps.last_message_time_ms();
const Location &loc = gps.location();
cliSerial->printf("Lat: %ld, Lon %ld, Alt: %ldm, #sats: %d\n",
(long)loc.lat,
(long)loc.lng,
(long)loc.alt/100,
(int)gps.num_sats());
} else {
cliSerial->printf(".");
}
if(cliSerial->available() > 0) {
return (0);
}
}
}
int8_t Rover::test_ins(uint8_t argc, const Menu::arg *argv)
{
//cliSerial->printf("Calibrating.");
ahrs.init();
ahrs.set_fly_forward(true);
ins.init(scheduler.get_loop_rate_hz());
ahrs.reset();
print_hit_enter();
delay(1000);
uint8_t medium_loopCounter = 0;
while(1){
ins.wait_for_sample();
ahrs.update();
if(g.compass_enabled) {
medium_loopCounter++;
if(medium_loopCounter >= 5){
compass.read();
medium_loopCounter = 0;
}
}
// We are using the IMU
// ---------------------
Vector3f gyros = ins.get_gyro();
Vector3f accels = ins.get_accel();
cliSerial->printf("r:%4d p:%4d y:%3d g=(%5.1f %5.1f %5.1f) a=(%5.1f %5.1f %5.1f)\n",
(int)ahrs.roll_sensor / 100,
(int)ahrs.pitch_sensor / 100,
(uint16_t)ahrs.yaw_sensor / 100,
(double)gyros.x, (double)gyros.y, (double)gyros.z,
(double)accels.x, (double)accels.y, (double)accels.z);
if(cliSerial->available() > 0){
return (0);
}
}
}
void Rover::print_enabled(bool b)
{
if(b)
cliSerial->printf("en");
else
cliSerial->printf("dis");
cliSerial->printf("abled\n");
}
int8_t Rover::test_mag(uint8_t argc, const Menu::arg *argv)
{
if (!g.compass_enabled) {
cliSerial->printf("Compass: ");
print_enabled(false);
return (0);
}
if (!compass.init()) {
cliSerial->println("Compass initialisation failed!");
return 0;
}
ahrs.init();
ahrs.set_fly_forward(true);
ahrs.set_compass(&compass);
// we need the AHRS initialised for this test
ins.init(scheduler.get_loop_rate_hz());
ahrs.reset();
int counter = 0;
float heading = 0;
print_hit_enter();
uint8_t medium_loopCounter = 0;
while(1) {
ins.wait_for_sample();
ahrs.update();
medium_loopCounter++;
if(medium_loopCounter >= 5){
if (compass.read()) {
// Calculate heading
Matrix3f m = ahrs.get_rotation_body_to_ned();
heading = compass.calculate_heading(m);
compass.learn_offsets();
}
medium_loopCounter = 0;
}
counter++;
if (counter>20) {
if (compass.healthy()) {
const Vector3f mag_ofs = compass.get_offsets();
const Vector3f mag = compass.get_field();
cliSerial->printf("Heading: %f, XYZ: %.0f, %.0f, %.0f,\tXYZoff: %6.2f, %6.2f, %6.2f\n",
(wrap_360_cd(ToDeg(heading) * 100)) /100,
(double)mag.x, (double)mag.y, (double)mag.z,
(double)mag_ofs.x, (double)mag_ofs.y, (double)mag_ofs.z);
} else {
cliSerial->println("compass not healthy");
}
counter=0;
}
if (cliSerial->available() > 0) {
break;
}
}
// save offsets. This allows you to get sane offset values using
// the CLI before you go flying.
cliSerial->println("saving offsets");
compass.save_offsets();
return (0);
}
//-------------------------------------------------------------------------------------------
// real sensors that have not been simulated yet go here
int8_t Rover::test_sonar(uint8_t argc, const Menu::arg *argv)
{
init_sonar();
delay(20);
sonar.update();
if (sonar.status() == RangeFinder::RangeFinder_NotConnected) {
cliSerial->println("WARNING: Sonar is not enabled");
}
print_hit_enter();
float sonar_dist_cm_min = 0.0f;
float sonar_dist_cm_max = 0.0f;
float voltage_min=0.0f, voltage_max = 0.0f;
float sonar2_dist_cm_min = 0.0f;
float sonar2_dist_cm_max = 0.0f;
float voltage2_min=0.0f, voltage2_max = 0.0f;
uint32_t last_print = 0;
while (true) {
delay(20);
sonar.update();
uint32_t now = millis();
float dist_cm = sonar.distance_cm(0);
float voltage = sonar.voltage_mv(0);
if (is_zero(sonar_dist_cm_min)) {
sonar_dist_cm_min = dist_cm;
voltage_min = voltage;
}
sonar_dist_cm_max = MAX(sonar_dist_cm_max, dist_cm);
sonar_dist_cm_min = MIN(sonar_dist_cm_min, dist_cm);
voltage_min = MIN(voltage_min, voltage);
voltage_max = MAX(voltage_max, voltage);
dist_cm = sonar.distance_cm(1);
voltage = sonar.voltage_mv(1);
if (is_zero(sonar2_dist_cm_min)) {
sonar2_dist_cm_min = dist_cm;
voltage2_min = voltage;
}
sonar2_dist_cm_max = MAX(sonar2_dist_cm_max, dist_cm);
sonar2_dist_cm_min = MIN(sonar2_dist_cm_min, dist_cm);
voltage2_min = MIN(voltage2_min, voltage);
voltage2_max = MAX(voltage2_max, voltage);
if (now - last_print >= 200) {
cliSerial->printf("sonar1 dist=%.1f:%.1fcm volt1=%.2f:%.2f sonar2 dist=%.1f:%.1fcm volt2=%.2f:%.2f\n",
(double)sonar_dist_cm_min,
(double)sonar_dist_cm_max,
(double)voltage_min,
(double)voltage_max,
(double)sonar2_dist_cm_min,
(double)sonar2_dist_cm_max,
(double)voltage2_min,
(double)voltage2_max);
voltage_min = voltage_max = 0.0f;
voltage2_min = voltage2_max = 0.0f;
sonar_dist_cm_min = sonar_dist_cm_max = 0.0f;
sonar2_dist_cm_min = sonar2_dist_cm_max = 0.0f;
last_print = now;
}
if (cliSerial->available() > 0) {
break;
}
}
return (0);
}
#if CONFIG_HAL_BOARD == HAL_BOARD_PX4 || CONFIG_HAL_BOARD == HAL_BOARD_VRBRAIN
/*
* run a debug shell
*/
int8_t Rover::test_shell(uint8_t argc, const Menu::arg *argv)
{
hal.util->run_debug_shell(cliSerial);
return 0;
}
#endif
#endif // CLI_ENABLED