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AP_BlHeli: always report test results and report band channel once

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Peter Hall 2020-02-01 23:29:24 +00:00 committed by Andrew Tridgell
parent d5843ff03a
commit 2c5b0ffa29
1 changed files with 5 additions and 5 deletions
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10
libraries/AP_BLHeli/AP_BLHeli.cpp
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@ -1136,15 +1136,15 @@ bool AP_BLHeli::protocol_handler(uint8_t b, AP_HAL::UARTDriver *_uart)
*/ */
void AP_BLHeli::run_connection_test(uint8_t chan) void AP_BLHeli::run_connection_test(uint8_t chan)
{ {
run_test.set_and_notify(0);
debug_uart = hal.console; debug_uart = hal.console;
uint8_t saved_chan = blheli.chan; uint8_t saved_chan = blheli.chan;
if (chan >= num_motors) { if (chan >= num_motors) {
debug("bad channel %u", chan); gcs().send_text(MAV_SEVERITY_INFO, "ESC: bad channel %u", chan);
return; return;
} }
blheli.chan = chan; blheli.chan = chan;
debug("Running test on channel %u", blheli.chan); gcs().send_text(MAV_SEVERITY_INFO, "ESC: Running test on channel %u", blheli.chan);
run_test.set_and_notify(0);
bool passed = false; bool passed = false;
for (uint8_t tries=0; tries<5; tries++) { for (uint8_t tries=0; tries<5; tries++) {
EXPECT_DELAY_MS(3000); EXPECT_DELAY_MS(3000);
@ -1172,11 +1172,11 @@ void AP_BLHeli::run_connection_test(uint8_t chan)
} }
} }
hal.rcout->serial_end(); hal.rcout->serial_end();
SRV_Channels::set_disabled_channel_mask(0); SRV_Channels::set_disabled_channel_mask(0);
motors_disabled = false; motors_disabled = false;
serial_start_ms = 0; serial_start_ms = 0;
blheli.chan = saved_chan; blheli.chan = saved_chan;
debug("Test %s", passed?"PASSED":"FAILED"); gcs().send_text(MAV_SEVERITY_INFO, "ESC: Test %s", passed?"PASSED":"FAILED");
debug_uart = nullptr; debug_uart = nullptr;
} }