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author | Lorenz Meier <lm@inf.ethz.ch> | 2014-07-15 22:07:03 +0200 |
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committer | Lorenz Meier <lm@inf.ethz.ch> | 2014-07-15 22:07:03 +0200 |
commit | e696ed5509d001e181c33a2379d634e76190c42a (patch) | |
tree | 8fd3e88c0782ceb90e6b9589daa1290d548058fd /src/systemcmds/tests/test_sensors.c | |
parent | 79aa600d29c66e4619aacf73e71e51df13560205 (diff) | |
parent | 619433d36911b9c3923bae666d3632beb713935f (diff) | |
download | px4-firmware-e696ed5509d001e181c33a2379d634e76190c42a.tar.gz px4-firmware-e696ed5509d001e181c33a2379d634e76190c42a.tar.bz2 px4-firmware-e696ed5509d001e181c33a2379d634e76190c42a.zip |
Merged master
Diffstat (limited to 'src/systemcmds/tests/test_sensors.c')
-rw-r--r-- | src/systemcmds/tests/test_sensors.c | 37 |
1 files changed, 36 insertions, 1 deletions
diff --git a/src/systemcmds/tests/test_sensors.c b/src/systemcmds/tests/test_sensors.c index 096106ff3..a4f17eebd 100644 --- a/src/systemcmds/tests/test_sensors.c +++ b/src/systemcmds/tests/test_sensors.c @@ -139,7 +139,14 @@ accel(int argc, char *argv[]) } if (fabsf(buf.x) > 30.0f || fabsf(buf.y) > 30.0f || fabsf(buf.z) > 30.0f) { - warnx("ACCEL1 acceleration values out of range!"); + warnx("ACCEL acceleration values out of range!"); + return ERROR; + } + + float len = sqrtf(buf.x * buf.x + buf.y * buf.y + buf.z * buf.z); + + if (len < 8.0f || len > 12.0f) { + warnx("ACCEL scale error!"); return ERROR; } @@ -186,6 +193,13 @@ accel1(int argc, char *argv[]) return ERROR; } + float len = sqrtf(buf.x * buf.x + buf.y * buf.y + buf.z * buf.z); + + if (len < 8.0f || len > 12.0f) { + warnx("ACCEL1 scale error!"); + return ERROR; + } + /* Let user know everything is ok */ printf("\tOK: ACCEL1 passed all tests successfully\n"); @@ -225,6 +239,13 @@ gyro(int argc, char *argv[]) printf("\tGYRO rates: x:%8.4f\ty:%8.4f\tz:%8.4f rad/s\n", (double)buf.x, (double)buf.y, (double)buf.z); } + float len = sqrtf(buf.x * buf.x + buf.y * buf.y + buf.z * buf.z); + + if (len > 0.3f) { + warnx("GYRO scale error!"); + return ERROR; + } + /* Let user know everything is ok */ printf("\tOK: GYRO passed all tests successfully\n"); close(fd); @@ -263,6 +284,13 @@ gyro1(int argc, char *argv[]) printf("\tGYRO1 rates: x:%8.4f\ty:%8.4f\tz:%8.4f rad/s\n", (double)buf.x, (double)buf.y, (double)buf.z); } + float len = sqrtf(buf.x * buf.x + buf.y * buf.y + buf.z * buf.z); + + if (len > 0.3f) { + warnx("GYRO1 scale error!"); + return ERROR; + } + /* Let user know everything is ok */ printf("\tOK: GYRO1 passed all tests successfully\n"); close(fd); @@ -301,6 +329,13 @@ mag(int argc, char *argv[]) printf("\tMAG values: x:%8.4f\ty:%8.4f\tz:%8.4f\n", (double)buf.x, (double)buf.y, (double)buf.z); } + float len = sqrtf(buf.x * buf.x + buf.y * buf.y + buf.z * buf.z); + + if (len < 1.0f || len > 3.0f) { + warnx("MAG scale error!"); + return ERROR; + } + /* Let user know everything is ok */ printf("\tOK: MAG passed all tests successfully\n"); close(fd); |