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C++ AP_InertialSensor::get_accel_health方法代码示例

本文整理汇总了C++中AP_InertialSensor::get_accel_health方法的典型用法代码示例。如果您正苦于以下问题:C++ AP_InertialSensor::get_accel_health方法的具体用法?C++ AP_InertialSensor::get_accel_health怎么用?C++ AP_InertialSensor::get_accel_health使用的例子?那么恭喜您, 这里精选的方法代码示例或许可以为您提供帮助。您也可以进一步了解该方法所在AP_InertialSensor的用法示例。


在下文中一共展示了AP_InertialSensor::get_accel_health方法的1个代码示例,这些例子默认根据受欢迎程度排序。您可以为喜欢或者感觉有用的代码点赞,您的评价将有助于系统推荐出更棒的C++代码示例。

示例1: run_test

static void run_test()
{
    Vector3f accel;
    Vector3f gyro;
    uint8_t counter = 0;
    static uint8_t accel_count = ins.get_accel_count();
    static uint8_t gyro_count = ins.get_gyro_count();
    static uint8_t ins_count = MAX(accel_count, gyro_count);

    // flush any user input
    while (hal.console->available()) {
        hal.console->read();
    }

    // clear out any existing samples from ins
    ins.update();

    // loop as long as user does not press a key
    while (!hal.console->available()) {
        // wait until we have a sample
        ins.wait_for_sample();

        // read samples from ins
        ins.update();

        // print each accel/gyro result every 50 cycles
        if (counter++ % 50 != 0) {
            continue;
        }

        // loop and print each sensor
        for (uint8_t ii = 0; ii < ins_count; ii++) {
            char state;

            if (ii > accel_count - 1) {
                // No accel present
                state = '-';
            } else if (ins.get_accel_health(ii)) {
                // Healthy accel
                state = 'h';
            } else {
                // Accel present but not healthy
                state = 'u';
            }

            accel = ins.get_accel(ii);

            hal.console->printf("%u - Accel (%c) : X:%6.2f Y:%6.2f Z:%6.2f norm:%5.2f",
                                ii, state, (double)accel.x, (double)accel.y, (double)accel.z,
                                (double)accel.length());

            gyro = ins.get_gyro(ii);

            if (ii > gyro_count - 1) {
                // No gyro present
                state = '-';
            } else if (ins.get_gyro_health(ii)) {
                // Healthy gyro
                state = 'h';
            } else {
                // Gyro present but not healthy
                state = 'u';
            }

            hal.console->printf("   Gyro (%c) : X:%6.2f Y:%6.2f Z:%6.2f\n",
                                state, (double)gyro.x, (double)gyro.y, (double)gyro.z);
            auto temp = ins.get_temperature(ii);
            hal.console->printf("   t:%6.2f\n", (double)temp);
        }
    }

    // clear user input
    while (hal.console->available()) {
        hal.console->read();
    }
}
开发者ID:Benbenbeni,项目名称:ardupilot-1,代码行数:76,代码来源:INS_generic.cpp


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