int8_t Sub::test_optflow(uint8_t argc, const Menu::arg *argv)
{
#if OPTFLOW == ENABLED
if(optflow.enabled()) {
cliSerial->printf("dev id: %d\t",(int)optflow.device_id());
print_hit_enter();
while(1) {
delay(200);
optflow.update();
const Vector2f& flowRate = optflow.flowRate();
cliSerial->printf("flowX : %7.4f\t flowY : %7.4f\t flow qual : %d\n",
(double)flowRate.x,
(double)flowRate.y,
(int)optflow.quality());
if(cliSerial->available() > 0) {
return (0);
}
}
} else {
cliSerial->printf("OptFlow: ");
print_enabled(false);
}
return (0);
#else
return (0);
#endif // OPTFLOW == ENABLED
}
void Copter::report_optflow()
{
#if OPTFLOW == ENABLED
cliSerial->printf("OptFlow\n");
print_divider();
print_enabled(optflow.enabled());
print_blanks(2);
#endif // OPTFLOW == ENABLED
}
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);
}
int8_t Plane::test_airspeed(uint8_t argc, const Menu::arg *argv)
{
if (!airspeed.enabled()) {
cliSerial->printf_P(PSTR("airspeed: "));
print_enabled(false);
return (0);
}else{
print_hit_enter();
zero_airspeed(false);
cliSerial->printf_P(PSTR("airspeed: "));
print_enabled(true);
while(1) {
hal.scheduler->delay(20);
read_airspeed();
cliSerial->printf_P(PSTR("%.1f m/s\n"), (double)airspeed.get_airspeed());
if(cliSerial->available() > 0) {
return (0);
}
}
}
}
// 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);
}
int8_t Rover::test_mag(uint8_t argc, const Menu::arg *argv)
{
if (!g.compass_enabled) {
cliSerial->print("Compass: "******"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",
(double)(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);
}
int8_t Plane::test_mag(uint8_t argc, const Menu::arg *argv)
{
if (!g.compass_enabled) {
cliSerial->printf_P(PSTR("Compass: "******"Compass initialisation failed!"));
return 0;
}
ahrs.init();
ahrs.set_fly_forward(true);
ahrs.set_wind_estimation(true);
ahrs.set_compass(&compass);
// we need the AHRS initialised for this test
ins.init(AP_InertialSensor::COLD_START,
ins_sample_rate);
ahrs.reset();
uint16_t counter = 0;
float heading = 0;
print_hit_enter();
while(1) {
hal.scheduler->delay(20);
if (micros() - fast_loopTimer_us > 19000UL) {
fast_loopTimer_us = micros();
// INS
// ---
ahrs.update();
if(counter % 5 == 0) {
if (compass.read()) {
// Calculate heading
const Matrix3f &m = ahrs.get_dcm_matrix();
heading = compass.calculate_heading(m);
compass.learn_offsets();
}
}
counter++;
if (counter>20) {
if (compass.healthy()) {
const Vector3f &mag_ofs = compass.get_offsets_milligauss();
const Vector3f &mag = compass.get_field_milligauss();
cliSerial->printf_P(PSTR("Heading: %ld, 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_P(PSTR("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_P(PSTR("saving offsets"));
compass.save_offsets();
return (0);
}
int8_t Sub::test_compass(uint8_t argc, const Menu::arg *argv)
{
uint8_t delta_ms_fast_loop;
uint8_t medium_loopCounter = 0;
if (!g.compass_enabled) {
cliSerial->printf("Compass: "******"Compass initialisation failed!");
return 0;
}
ahrs.init();
ahrs.set_fly_forward(true);
ahrs.set_compass(&compass);
#if OPTFLOW == ENABLED
ahrs.set_optflow(&optflow);
#endif
report_compass();
// we need the AHRS initialised for this test
ins.init(scheduler.get_loop_rate_hz());
ahrs.reset();
int16_t counter = 0;
float heading = 0;
print_hit_enter();
while(1) {
delay(20);
if (millis() - fast_loopTimer > 19) {
delta_ms_fast_loop = millis() - fast_loopTimer;
G_Dt = (float)delta_ms_fast_loop / 1000.0f; // used by DCM integrator
fast_loopTimer = millis();
// INS
// ---
ahrs.update();
medium_loopCounter++;
if(medium_loopCounter == 5) {
if (compass.read()) {
// Calculate heading
const 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: %d, XYZ: %.0f, %.0f, %.0f,\tXYZoff: %6.2f, %6.2f, %6.2f\n",
(int)(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);
}
