NavModeAutoTest () {
system("gpsd -n -S 3001 /dev/ttyS4 /dev/ttyACM0");
mode = NavModeBase::factory(me, NavModeEnum::AUTONOMOUS);
rcchannels->at(Conf::get()->RCchannelMap().at("auto")) = Conf::get()->RClimits().at("min");
start = std::chrono::system_clock::now();
me.health = &health;
health.setADCdevice(&adc);
me.rudder = &rudder;
me.throttle = &throttle;
me.rc = &rc;
me.adc = &adc;
me.gps = &gps;
me.orient = &orient;
me.relays = RelayMap::instance();
adc.init();
me.relays->init();
harness.accessADC(&adc, &adcraw, &adcvalid);
harness.accessRC(&rc, NULL, NULL, &rcfailsafe, &rcvalid, &rcchannels, NULL, NULL, NULL);
harness.accessGPSd(&gps, &fix, NULL);
harness.accessOrientation(&orient, &orientvalue, &orientvalid);
for (auto r: *me.relays->getmap()) {
Pin *drive;
Pin *fault;
harness.accessRelay(r.second, &drive, &fault);
fault->setDir(true);
fault->init();
fault->clear();
}
fix->fixValid = true;
fix->speed = 0;
fix->track = 0;
fix->fix.lat = 48.0;
fix->fix.lon = -114.0;
me.lastFix = *fix;
me.rudder->attach(Conf::get()->rudderPort(), Conf::get()->rudderPin());
me.disarmInput.setDir(true);
me.disarmInput.init();
me.disarmInput.set();
me.armInput.setDir(true);
me.armInput.init();
me.armInput.clear();
*adcvalid = true;
*rcvalid = true;
*rcfailsafe = false;
*orientvalid = true;
adcraw->at(Conf::get()->batmonName()) = 3000;
health.readHealth();
}
