template <typename T, typename X> void core_solver_pretty_printer<T, X>::print_approx_norms() {
int blanks = m_title_width + 1 - m_approx_norm_title.size();
m_out << m_approx_norm_title;
print_blanks(blanks, m_out);
for (unsigned i = 0; i < ncols(); i++) {
string s = T_to_string(m_core_solver.m_column_norms[i]);
int blanks = m_column_widths[i] - s.size();
print_blanks(blanks, m_out);
m_out << s << " ";
}
m_out << std::endl;
}
template <typename T, typename X> void core_solver_pretty_printer<T, X>::print_exact_norms() {
int blanks = m_title_width + 1 - static_cast<int>(m_exact_norm_title.size());
m_out << m_exact_norm_title;
print_blanks(blanks, m_out);
for (unsigned i = 0; i < ncols(); i++) {
string s = get_exact_column_norm_string(i);
int blanks = m_column_widths[i] - static_cast<int>(s.size());
print_blanks(blanks, m_out);
m_out << s << " ";
}
m_out << std::endl;
}
template <typename T, typename X> void core_solver_pretty_printer<T, X>::print_row(unsigned i){
print_blanks(m_title_width + 1, m_out);
auto row = m_A[i];
auto sign_row = m_signs[i];
auto rs = m_rs[i];
print_given_rows(row, sign_row, rs);
}
template <typename T, typename X> void core_solver_pretty_printer<T, X>::print_upps() {
if (ncols() == 0) {
return;
}
int blanks = m_title_width + 1 - m_upp_bounds_title.size();
m_out << m_upp_bounds_title;
print_blanks(blanks, m_out);
for (unsigned i = 0; i < ncols(); i++) {
string s = get_upp_bound_string(i);
int blanks = m_column_widths[i] - s.size();
print_blanks(blanks, m_out);
m_out << s << " "; // the column interval
}
m_out << std::endl;
}
void Copter::report_frame()
{
cliSerial->println("Frame");
print_divider();
cliSerial->println(get_frame_string());
print_blanks(2);
}
template <typename T, typename X> void core_solver_pretty_printer<T, X>::print_basis_heading() {
int blanks = m_title_width + 1 - m_basis_heading_title.size();
m_out << m_basis_heading_title;
print_blanks(blanks, m_out);
if (ncols() == 0) {
return;
}
auto bh = m_core_solver.m_basis_heading;
for (unsigned i = 0; i < ncols(); i++) {
string s = T_to_string(bh[i]);
int blanks = m_column_widths[i] - s.size();
print_blanks(blanks, m_out);
m_out << s << " "; // the column interval
}
m_out << std::endl;
}
void Copter::report_radio()
{
cliSerial->printf("Radio\n");
print_divider();
// radio
print_radio_values();
print_blanks(2);
}
void Copter::report_ins()
{
cliSerial->printf("INS\n");
print_divider();
print_gyro_offsets();
print_accel_offsets_and_scaling();
print_blanks(2);
}
void print_matrix_with_widths(std::vector<std::vector<std::string>> & A, std::vector<unsigned> & ws, std::ostream & out) {
for (unsigned i = 0; i < A.size(); i++) {
for (unsigned j = 0; j < A[i].size(); j++) {
print_blanks(ws[j] - A[i][j].size(), out);
out << A[i][j] << " ";
}
out << std::endl;
}
}
void Copter::report_flight_modes()
{
cliSerial->printf("Flight modes\n");
print_divider();
for(int16_t i = 0; i < 6; i++ ) {
print_switch(i, (control_mode_t)flight_modes[i].get(), BIT_IS_SET(g.simple_modes, i));
}
print_blanks(2);
}
void Copter::report_flight_modes()
{
cliSerial->printf_P(PSTR("Flight modes\n"));
print_divider();
for(int16_t i = 0; i < 6; i++ ) {
print_switch(i, flight_modes[i], BIT_IS_SET(g.simple_modes, i));
}
print_blanks(2);
}
void Copter::report_optflow()
{
#if OPTFLOW == ENABLED
cliSerial->printf("OptFlow\n");
print_divider();
print_enabled(optflow.enabled());
print_blanks(2);
#endif // OPTFLOW == ENABLED
}
template <typename T, typename X> void core_solver_pretty_printer<T, X>::print_given_rows(vector<string> & row, vector<string> & signs, X rst) {
for (unsigned col = 0; col < row.size(); col++) {
unsigned width = m_column_widths[col];
string s = row[col];
int number_of_blanks = width - s.size();
lean_assert(number_of_blanks >= 0);
print_blanks(number_of_blanks, m_out);
m_out << s << ' ';
if (col < row.size() - 1) {
m_out << signs[col + 1] << ' ';
}
}
m_out << '=';
string rs = T_to_string(rst);
int nb = m_rs_width - rs.size();
lean_assert(nb >= 0);
print_blanks(nb + 1, m_out);
m_out << rs << std::endl;
}
void Copter::report_batt_monitor()
{
cliSerial->printf("\nBatt Mon:\n");
print_divider();
if (battery.num_instances() == 0) {
print_enabled(false);
} else if (!battery.has_current()) {
cliSerial->printf("volts");
} else {
cliSerial->printf("volts and cur");
}
print_blanks(2);
}
// report_compass - displays compass information. Also called by compassmot.pde
void Copter::report_compass()
{
cliSerial->printf("Compass\n");
print_divider();
print_enabled(g.compass_enabled);
// mag declination
cliSerial->printf("Mag Dec: %4.4f\n",
(double)degrees(compass.get_declination()));
// mag offsets
Vector3f offsets;
for (uint8_t i=0; i<compass.get_count(); i++) {
offsets = compass.get_offsets(i);
// mag offsets
cliSerial->printf("Mag%d off: %4.4f, %4.4f, %4.4f\n",
(int)i,
(double)offsets.x,
(double)offsets.y,
(double)offsets.z);
}
// motor compensation
cliSerial->print("Motor Comp: ");
if( compass.get_motor_compensation_type() == AP_COMPASS_MOT_COMP_DISABLED ) {
cliSerial->print("Off\n");
}else{
if( compass.get_motor_compensation_type() == AP_COMPASS_MOT_COMP_THROTTLE ) {
cliSerial->print("Throttle");
}
if( compass.get_motor_compensation_type() == AP_COMPASS_MOT_COMP_CURRENT ) {
cliSerial->print("Current");
}
Vector3f motor_compensation;
for (uint8_t i=0; i<compass.get_count(); i++) {
motor_compensation = compass.get_motor_compensation(i);
cliSerial->printf("\nComMot%d: %4.2f, %4.2f, %4.2f\n",
(int)i,
(double)motor_compensation.x,
(double)motor_compensation.y,
(double)motor_compensation.z);
}
}
print_blanks(1);
}
void Copter::report_frame()
{
cliSerial->printf("Frame\n");
print_divider();
#if FRAME_CONFIG == QUAD_FRAME
cliSerial->printf("Quad frame\n");
#elif FRAME_CONFIG == TRI_FRAME
cliSerial->printf("TRI frame\n");
#elif FRAME_CONFIG == HEXA_FRAME
cliSerial->printf("Hexa frame\n");
#elif FRAME_CONFIG == Y6_FRAME
cliSerial->printf("Y6 frame\n");
#elif FRAME_CONFIG == OCTA_FRAME
cliSerial->printf("Octa frame\n");
#elif FRAME_CONFIG == HELI_FRAME
cliSerial->printf("Heli frame\n");
#endif
print_blanks(2);
}
// Print the current configuration.
// Called by the setup menu 'show' command.
int8_t Copter::setup_show(uint8_t argc, const Menu::arg *argv)
{
AP_Param *param;
ap_var_type type;
//If a parameter name is given as an argument to show, print only that parameter
if(argc>=2)
{
param=AP_Param::find(argv[1].str, &type);
if(!param)
{
cliSerial->printf("Parameter not found: '%s'\n", argv[1].str);
return 0;
}
AP_Param::show(param, argv[1].str, type, cliSerial);
return 0;
}
// clear the area
print_blanks(8);
report_version();
report_radio();
report_frame();
report_batt_monitor();
report_flight_modes();
report_ins();
report_compass();
report_optflow();
AP_Param::show_all(cliSerial);
return(0);
}
void Copter::report_version()
{
cliSerial->printf("FW Ver: %d\n",(int)(g.k_format_version));
print_divider();
print_blanks(2);
}
void Copter::report_version()
{
cliSerial->printf_P(PSTR("FW Ver: %d\n"),(int)g.k_format_version);
print_divider();
print_blanks(2);
}
template <typename T, typename X> void core_solver_pretty_printer<T, X>::print_cost() {
int blanks = m_title_width + 1 - m_cost_title.size();
m_out << m_cost_title;
print_blanks(blanks, m_out);
print_given_rows(m_costs, m_cost_signs, m_core_solver.get_cost());
}
void Copter::report_version()
{
hal.console->printf("FW Ver: %d\n",(int)(g.k_format_version));
print_divider();
print_blanks(2);
}
