void sensors_begin(bool flipped) {
hal.console->printf("init AP_InertialSensor: ");
if (flipped) {
g_ahrs.set_orientation(ROTATION_ROLL_180);
}
g_ins.init(AP_InertialSensor::COLD_START, INS_SAMPLE_RATE, flash_leds);
g_ins.init_accel(flash_leds);
hal.console->println();
led_set(0, false);
hal.console->printf("done\r\n");
hal.console->printf("init AP_Compass: "******"done\r\n");
hal.console->printf("init AP_Baro: ");
g_baro.init();
g_baro.calibrate();
hal.console->printf("done\r\n");
hal.console->printf("init AP_AHRS: ");
g_ahrs.init();
g_ahrs.set_compass(&g_compass);
hal.console->printf("sensors init done\r\n");
}
void main_task(void *args)
{
vTaskSetApplicationTaskTag(xTaskGetIdleTaskHandle(), (pdTASK_HOOK_CODE)1);
vTaskSetApplicationTaskTag(NULL, (pdTASK_HOOK_CODE)2);
led_init();
hal.init(0, NULL);
hal.console->printf("AP_HAL Sensor Test\r\n");
hal.scheduler->register_timer_failsafe(failsafe, 1000);
hal.console->printf("init AP_InertialSensor: ");
g_ins.init(AP_InertialSensor::COLD_START, INS_SAMPLE_RATE, flash_leds);
g_ins.init_accel(flash_leds);
hal.console->println();
led_set(0, false);
hal.console->printf("done\r\n");
hal.console->printf("init AP_Compass: "******"done\r\n");
hal.console->printf("init AP_Baro: ");
g_baro.init();
g_baro.calibrate();
hal.console->printf("done\r\n");
hal.console->printf("init AP_AHRS: ");
g_ahrs.init();
g_ahrs.set_compass(&g_compass);
g_ahrs.set_barometer(&g_baro);
hal.console->printf("done\r\n");
portTickType last_print = 0;
portTickType last_compass = 0;
portTickType last_wake = 0;
float heading = 0.0f;
last_wake = xTaskGetTickCount();
for (;;) {
// Delay to run this loop at 100Hz.
vTaskDelayUntil(&last_wake, 10);
portTickType now = xTaskGetTickCount();
if (last_compass == 0 || now - last_compass > 100) {
last_compass = now;
g_compass.read();
g_baro.read();
heading = g_compass.calculate_heading(g_ahrs.get_dcm_matrix());
}
g_ahrs.update();
if (last_print == 0 || now - last_print > 100) {
last_print = now;
hal.console->write("\r\n");
hal.console->printf("ahrs: roll %4.1f pitch %4.1f yaw %4.1f hdg %.1f\r\n",
ToDeg(g_ahrs.roll), ToDeg(g_ahrs.pitch),
ToDeg(g_ahrs.yaw),
g_compass.use_for_yaw() ? ToDeg(heading) : 0.0f);
Vector3f accel(g_ins.get_accel());
Vector3f gyro(g_ins.get_gyro());
hal.console->printf("mpu6000: accel %.2f %.2f %.2f "
"gyro %.2f %.2f %.2f\r\n",
accel.x, accel.y, accel.z,
gyro.x, gyro.y, gyro.z);
hal.console->printf("compass: heading %.2f deg\r\n",
ToDeg(g_compass.calculate_heading(0, 0)));
g_compass.null_offsets();
if (hal.rcin->valid()) {
uint16_t ppm[PPM_MAX_CHANNELS];
size_t count;
count = hal.rcin->read(ppm, PPM_MAX_CHANNELS);
hal.console->write("ppm: ");
for (size_t i = 0; i < count; ++i)
hal.console->printf("%u ", ppm[i]);
hal.console->write("\r\n");
}
}
}
}