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TriCopter: output_test for individual motors 

Based on original work by Nils Hogberg
This commit is contained in:
Randy Mackay 2014-04-28 16:30:26 +09:00
parent 07766e55f9
commit 2be99d7a92
2 changed files with 34 additions and 23 deletions
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51
libraries/AP_Motors/AP_MotorsTri.cpp
View File

@ -185,27 +185,36 @@ void AP_MotorsTri::output_disarmed()
output_min();
}
// output_test - spin each motor for a moment to allow the user to confirm the motor order and spin direction
void AP_MotorsTri::output_test()
// output_test - spin a motor at the pwm value specified
// motor_seq is the motor's sequence number from 1 to the number of motors on the frame
// pwm value is an actual pwm value that will be output, normally in the range of 1000 ~ 2000
void AP_MotorsTri::output_test(uint8_t motor_seq, int16_t pwm)
{
// Send minimum values to all motors
output_min();
// exit immediately if not armed
if (!_flags.armed) {
return;
}
hal.rcout->write(pgm_read_byte(&_motor_to_channel_map[AP_MOTORS_MOT_2]), _rc_throttle.radio_min);
hal.scheduler->delay(4000);
hal.rcout->write(pgm_read_byte(&_motor_to_channel_map[AP_MOTORS_MOT_1]), _rc_throttle.radio_min + _min_throttle);
hal.scheduler->delay(300);
hal.rcout->write(pgm_read_byte(&_motor_to_channel_map[AP_MOTORS_MOT_1]), _rc_throttle.radio_min);
hal.scheduler->delay(2000);
hal.rcout->write(pgm_read_byte(&_motor_to_channel_map[AP_MOTORS_MOT_4]), _rc_throttle.radio_min + _min_throttle);
hal.scheduler->delay(300);
hal.rcout->write(pgm_read_byte(&_motor_to_channel_map[AP_MOTORS_MOT_4]), _rc_throttle.radio_min);
hal.scheduler->delay(2000);
hal.rcout->write(pgm_read_byte(&_motor_to_channel_map[AP_MOTORS_MOT_2]), _rc_throttle.radio_min + _min_throttle);
hal.scheduler->delay(300);
// Send minimum values to all motors
output_min();
// output to motors and servos
switch (motor_seq) {
case 1:
// front right motor
hal.rcout->write(pgm_read_byte(&_motor_to_channel_map[AP_MOTORS_MOT_1]), pwm);
break;
case 2:
// back motor
hal.rcout->write(pgm_read_byte(&_motor_to_channel_map[AP_MOTORS_MOT_4]), pwm);
break;
case 3:
// back servo
hal.rcout->write(pgm_read_byte(&_motor_to_channel_map[AP_MOTORS_MOT_7]), pwm);
break;
case 4:
// front left motor
hal.rcout->write(pgm_read_byte(&_motor_to_channel_map[AP_MOTORS_MOT_2]), pwm);
break;
default:
// do nothing
break;
}
}

6
libraries/AP_Motors/AP_MotorsTri.h
View File

@ -33,8 +33,10 @@ public:
// enable - starts allowing signals to be sent to motors
virtual void enable();
// output_test - spin each motor for a moment to allow the user to confirm the motor order and spin direction
virtual void output_test();
// output_test - spin a motor at the pwm value specified
// motor_seq is the motor's sequence number from 1 to the number of motors on the frame
// pwm value is an actual pwm value that will be output, normally in the range of 1000 ~ 2000
virtual void output_test(uint8_t motor_seq, int16_t pwm);
// output_min - sends minimum values out to the motors
virtual void output_min();