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ArduCopter - test.pde - changed references "motor_armed" to "motors.armed()" as part of move to AP_Motors library. 

Change to ESC initialisation calls to use motors.throttle_pass_through method of AP_Motors class.
This commit is contained in:
rmackay9 2012-04-04 23:05:26 +09:00
parent 2fc3b740c4
commit 2128085576
1 changed files with 17 additions and 7 deletions
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24
ArduCopter/test.pde
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@ -316,8 +316,8 @@ test_radio(uint8_t argc, const Menu::arg *argv)
Serial.printf_P(PSTR("g.pi_stabilize_roll.kP: %4.4f\n"), g.pi_stabilize_roll.kP()); Serial.printf_P(PSTR("g.pi_stabilize_roll.kP: %4.4f\n"), g.pi_stabilize_roll.kP());
Serial.printf_P(PSTR("max_stabilize_dampener:%d\n\n "), max_stabilize_dampener); Serial.printf_P(PSTR("max_stabilize_dampener:%d\n\n "), max_stabilize_dampener);
motor_auto_armed = false; motors.auto_armed(false);
motor_armed = true; motors.armed(true);
while(1){ while(1){
// 50 hz // 50 hz
@ -766,11 +766,22 @@ test_tuning(uint8_t argc, const Menu::arg *argv)
static int8_t static int8_t
test_battery(uint8_t argc, const Menu::arg *argv) test_battery(uint8_t argc, const Menu::arg *argv)
{ {
#if defined( __AVR_ATmega1280__ ) // determines if optical flow code is included #if defined( __AVR_ATmega1280__ ) // disable this test if we are using 1280
print_test_disabled(); print_test_disabled();
return (0); return (0);
#else #else
Serial.printf_P(PSTR("\nCareful! Motors will spin! Press Enter to start.\n"));
Serial.flush();
while(!Serial.available()){
delay(100);
}
Serial.flush();
print_hit_enter(); print_hit_enter();
// allow motors to spin
motors.enable();
motors.armed(true);
while(1){ while(1){
delay(100); delay(100);
read_radio(); read_radio();
@ -786,15 +797,14 @@ test_battery(uint8_t argc, const Menu::arg *argv)
current_amps1, current_amps1,
current_total1); current_total1);
} }
APM_RC.OutputCh(MOT_1, g.rc_3.radio_in); motors.throttle_pass_through();
APM_RC.OutputCh(MOT_2, g.rc_3.radio_in);
APM_RC.OutputCh(MOT_3, g.rc_3.radio_in);
APM_RC.OutputCh(MOT_4, g.rc_3.radio_in);
if(Serial.available() > 0){ if(Serial.available() > 0){
motors.armed(false);
return (0); return (0);
} }
} }
motors.armed(false);
return (0); return (0);
#endif #endif
} }