Navio2の傾きを知りたい

Question

Navio2がどのくらい傾いているか調べたいのですが、下記のプログラム(Navio2/C++/Examples/AccelGyroMag.cpp)を実行しても結果で数値が表示されません。どのように改善すれば該当プログラムの116行目

printf("Gyr: %+8.3f %+8.3f %+8.3f ", gx, gy, gz);

を表示できますか？

実行プログラム

/*
Provided to you by Emlid Ltd (c) 2015.
twitter.com/emlidtech || www.emlid.com || [e-mail]
Example: Read accelerometer, gyroscope and magnetometer values from
inertial measurement unit: MPU9250 or LSM9DS1 over SPI on Raspberry Pi + Navio.
Navio's onboard sensors are connected to the SPI bus on Raspberry Pi
and can be read through /dev/spidev0.1 (MPU9250), /dev/spidev0.3 (acc/gyro LSM9DS1)
and /dev/spidev0.2 (mag LSM9DS1).
To run this example navigate to the directory containing it and run following commands:
make
./AccelGyroMag -i [sensor name]
Sensors names: mpu is MPU9250, lsm is LSM9DS1.
For print help:
./AccelGyroMag -h
*/

#include "Common/MPU9250.h"
#include "Navio2/LSM9DS1.h"
#include "Common/Util.h"
#include <unistd.h>
#include <string>
#include <memory>

std::unique_ptr <InertialSensor> get_inertial_sensor( std::string sensor_name)
{
    if (sensor_name == "mpu") {
        printf("Selected: MPU9250\n");
        auto ptr = std::unique_ptr <InertialSensor>{ new MPU9250() };
        return ptr;
    }
    else if (sensor_name == "lsm") {
        printf("Selected: LSM9DS1\n");
        auto ptr = std::unique_ptr <InertialSensor>{ new LSM9DS1() };
        return ptr;
    }
    else {
        return NULL;
    }
}

void print_help()
{
    printf("Possible parameters:\nSensor selection: -i [sensor name]\n");
    printf("Sensors names: mpu is MPU9250, lsm is LSM9DS1\nFor help: -h\n");
}

std::string get_sensor_name(int argc, char *argv[])
{
    if (get_navio_version() == NAVIO2) {

        if (argc < 2) {
            printf("Enter parameter\n");
            print_help();
            return std::string();
        }

        // prevent the error message
        opterr = 0;
        int parameter;

        while ((parameter = getopt(argc, argv, "i:h")) != -1) {
            switch (parameter) {
            case 'i': return optarg;
            case 'h': print_help(); return "-1";
            case '?': printf("Wrong parameter.\n");
                      print_help();
                      return std::string();
            }
        }

    } else { //sensor on NAVIO+

        return "mpu";
    }

}
//=============================================================================
int main(int argc, char *argv[])
{

    if (check_apm()) {
        return 1;
    }

    auto sensor_name = get_sensor_name(argc, argv);
    if (sensor_name.empty())
        return EXIT_FAILURE;

    auto sensor = get_inertial_sensor(sensor_name);

    if (!sensor) {
        printf("Wrong sensor name. Select: mpu or lsm\n");
        return EXIT_FAILURE;
    }

    if (!sensor->probe()) {
        printf("Sensor not enabled\n");
        return EXIT_FAILURE;
    }
    sensor->initialize();

    float ax, ay, az;
    float gx, gy, gz;
    float mx, my, mz;
//-------------------------------------------------------------------------

    while(1) {
        sensor->update();
        sensor->read_accelerometer(&ax, &ay, &az);
        sensor->read_gyroscope(&gx, &gy, &gz);
        sensor->read_magnetometer(&mx, &my, &mz);
        printf("Acc: %+7.3f %+7.3f %+7.3f  ", ax, ay, az);
        printf("Gyr: %+8.3f %+8.3f %+8.3f  ", gx, gy, gz);
        printf("Mag: %+7.3f %+7.3f %+7.3f\n", mx, my, mz);

       usleep(500000);
    }
}

実行結果

Enter parameter
Possible parameters:
Sensor selection: -i [sensor name]
Sensors names: mpu is MPU9250, lsm is LSM9DS1
For help: -h

Comments

[WoodenHamlet]

argc, argv のコマンドライン引数の値はどうなっていますか？

Answer 1

実行方法には

./AccelGyroMag -i [sensor name]

と書いてありますが、[sensor name] のところに何を入れて実行しましたか？

Comments

[wage_wage]

lsmをいれてます
-iを入れるのをわすれてました。ありがとうございます！