Merge branch 'autodeclination' into ekf_params

Tools/tests-host/.gitignore

@@ -1,2 +1,4 @@
 ./obj/*
 mixer_test
+sbus2_test
+autodeclination_test

Tools/tests-host/Makefile

@@ -1,47 +1,39 @@
 
 CC=g++
-CFLAGS=-I. -I../../src/modules -I ../../src/include -I../../src/drivers -I../../src -D__EXPORT="" -Dnullptr="0"
+CFLAGS=-I. -I../../src/modules -I ../../src/include -I../../src/drivers \
+	-I../../src -I../../src/lib -D__EXPORT="" -Dnullptr="0" -lm
 
-ODIR=obj
-LDIR =../lib
+all: mixer_test sbus2_test autodeclination_test
 
-LIBS=-lm
+MIXER_FILES=../../src/systemcmds/tests/test_mixer.cpp \
+		../../src/systemcmds/tests/test_conv.cpp \
+		../../src/modules/systemlib/mixer/mixer_simple.cpp \
+		../../src/modules/systemlib/mixer/mixer_multirotor.cpp \
+		../../src/modules/systemlib/mixer/mixer.cpp \
+		../../src/modules/systemlib/mixer/mixer_group.cpp \
+		../../src/modules/systemlib/mixer/mixer_load.c \
+		../../src/modules/systemlib/pwm_limit/pwm_limit.c \
+		hrt.cpp \
+		mixer_test.cpp
 
-#_DEPS = test.h
-#DEPS = $(patsubst %,$(IDIR)/%,$(_DEPS))
+SBUS2_FILES=../../src/modules/px4iofirmware/sbus.c \
+		hrt.cpp \
+		sbus2_test.cpp
 
-_OBJ = mixer_test.o test_mixer.o mixer_simple.o mixer_multirotor.o \
-	mixer.o mixer_group.o mixer_load.o test_conv.o pwm_limit.o hrt.o
-OBJ = $(patsubst %,$(ODIR)/%,$(_OBJ))
+AUTODECLINATION_FILES= ../../src/lib/geo/geo_mag_declination.c \
+		hrt.cpp \
+		autodeclination_test.cpp
 
-#$(DEPS)
-$(ODIR)/%.o: %.cpp
-	mkdir -p obj
-	$(CC) -c -o $@ $< $(CFLAGS)
+mixer_test: $(MIXER_FILES)
+	$(CC) -o mixer_test $(MIXER_FILES) $(CFLAGS)
 
-$(ODIR)/%.o: ../../src/systemcmds/tests/%.cpp
-	$(CC) -c -o $@ $< $(CFLAGS)
+sbus2_test: $(SBUS2_FILES)
+	$(CC) -o sbus2_test $(SBUS2_FILES) $(CFLAGS)
 
-$(ODIR)/%.o: ../../src/modules/systemlib/%.cpp
-	$(CC) -c -o $@ $< $(CFLAGS)
-
-$(ODIR)/%.o: ../../src/modules/systemlib/mixer/%.cpp
-	$(CC) -c -o $@ $< $(CFLAGS)
-
-$(ODIR)/%.o: ../../src/modules/systemlib/pwm_limit/%.cpp
-	$(CC) -c -o $@ $< $(CFLAGS)
-
-$(ODIR)/%.o: ../../src/modules/systemlib/pwm_limit/%.c
-	$(CC) -c -o $@ $< $(CFLAGS)
-
-$(ODIR)/%.o: ../../src/modules/systemlib/mixer/%.c
-	$(CC) -c -o $@ $< $(CFLAGS)
-
-#
-mixer_test: $(OBJ)
-	g++ -o $@ $^ $(CFLAGS) $(LIBS)
+autodeclination_test: $(SBUS2_FILES)
+	$(CC) -o autodeclination_test $(AUTODECLINATION_FILES) $(CFLAGS)
 
 .PHONY: clean
 
 clean:
-	rm -f $(ODIR)/*.o *~ core $(INCDIR)/*~
+	rm -f $(ODIR)/*.o *~ core $(INCDIR)/*~ mixer_test sbus2_test autodeclination_test

Tools/tests-host/autodeclination_test.cpp

@@ -0,0 +1,28 @@
+
+#include <stdio.h>
+#include <stdlib.h> 
+#include <unistd.h>
+#include <string.h>
+#include <systemlib/mixer/mixer.h>
+#include <systemlib/err.h>
+#include <drivers/drv_hrt.h>
+#include <px4iofirmware/px4io.h>
+#include "../../src/systemcmds/tests/tests.h"
+#include <geo/geo.h>
+
+int main(int argc, char *argv[]) {
+	warnx("autodeclination test started");
+
+	if (argc < 3)
+		errx(1, "Need lat/lon!");
+
+	char* p_end;
+
+	float lat = strtod(argv[1], &p_end);
+	float lon = strtod(argv[2], &p_end);
+
+	float declination = get_mag_declination(lat, lon);
+
+	printf("lat: %f lon: %f, dec: %f\n", lat, lon, declination);
+
+}

Tools/tests-host/debug.h

@@ -0,0 +1,5 @@
+
+#pragma once
+
+#include <systemlib/err.h>
+#define lowsyslog warnx

Tools/tests-host/run_tests.sh

@@ -0,0 +1,6 @@
+#!/bin/sh
+
+make clean
+make all
+./mixer_test
+./sbus2_test ../../../../data/sbus2/sbus2_r7008SB_gps_baro_tx_off.txt

Tools/tests-host/sbus2_test.cpp

@@ -0,0 +1,75 @@
+
+#include <stdio.h>
+#include <unistd.h>
+#include <string.h>
+#include <systemlib/mixer/mixer.h>
+#include <systemlib/err.h>
+#include <drivers/drv_hrt.h>
+#include <px4iofirmware/px4io.h>
+#include "../../src/systemcmds/tests/tests.h"
+
+int main(int argc, char *argv[]) {
+	warnx("SBUS2 test started");
+
+	if (argc < 2)
+		errx(1, "Need a filename for the input file");
+
+	warnx("loading data from: %s", argv[1]);
+
+	FILE *fp;
+	
+	fp = fopen(argv[1],"rt");
+
+	if (!fp)
+		errx(1, "failed opening file");
+
+	float f;
+	unsigned x;
+	int ret;
+
+	// Trash the first 20 lines
+	for (unsigned i = 0; i < 20; i++) {
+		(void)fscanf(fp, "%f,%x,,", &f, &x);
+	}
+
+	// Init the parser
+	uint8_t frame[30];
+	unsigned partial_frame_count = 0;
+	uint16_t rc_values[18];
+	uint16_t num_values;
+	bool sbus_failsafe;
+	bool sbus_frame_drop;
+	uint16_t max_channels = sizeof(rc_values) / sizeof(rc_values[0]);
+
+	float last_time = 0;
+
+	while (EOF != (ret = fscanf(fp, "%f,%x,,", &f, &x))) {
+		if (((f - last_time) * 1000 * 1000) > 3000) {
+			partial_frame_count = 0;
+			warnx("FRAME RESET\n\n");
+		}
+
+		frame[partial_frame_count] = x;
+		partial_frame_count++;
+
+		//warnx("%f: 0x%02x, first: 0x%02x, last: 0x%02x, pcount: %u", (double)f, x, frame[0], frame[24], partial_frame_count);
+
+		if (partial_frame_count == sizeof(frame))
+			partial_frame_count = 0;
+
+		last_time = f;
+
+		// Pipe the data into the parser
+		hrt_abstime now = hrt_absolute_time();
+
+		//if (partial_frame_count % 25 == 0)
+			//sbus_parse(now, frame, &partial_frame_count, rc_values, &num_values, &sbus_failsafe, &sbus_frame_drop, max_channels);
+	}
+
+	if (ret == EOF) {
+		warnx("Test finished, reached end of file");
+	} else {
+		warnx("Test aborted, errno: %d", ret);
+	}
+
+}

src/drivers/drv_hrt.h

@@ -41,6 +41,7 @@
 
 #include <sys/types.h>
 #include <stdbool.h>
+#include <inttypes.h>
 
 #include <time.h>
 #include <queue.h>

src/lib/geo/geo.h

@@ -48,10 +48,10 @@
 #include "uORB/topics/fence.h"
 #include "uORB/topics/vehicle_global_position.h"
 
-#include "geo/geo_mag_declination.h"
-
 __BEGIN_DECLS
 
+#include "geo/geo_mag_declination.h"
+
 #include <stdbool.h>
 
 #define CONSTANTS_ONE_G					9.80665f		/* m/s^2		*/

src/lib/geo/geo_mag_declination.c

@@ -43,6 +43,8 @@
 *
 */
 
+#include <geo/geo.h>
+
 
 /** set this always to the sampling in degrees for the table below */
 #define SAMPLING_RES		10

src/modules/systemlib/mixer/mixer_load.c

@@ -41,6 +41,7 @@
 #include <string.h>
 #include <stdio.h>
 #include <ctype.h>
+#include <systemlib/err.h>
 
 #include "mixer_load.h"