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Copter: Support higher resolution percent based motor tests

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This commit is contained in:
Michael du Breuil 2020-07-14 00:22:35 -07:00 committed by Peter Barker
parent 997ffcf30d
commit 376494027b
3 changed files with 6 additions and 6 deletions
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2
ArduCopter/Copter.h
View File

@ -801,7 +801,7 @@ private:
// motor_test.cpp
void motor_test_output();
bool mavlink_motor_test_check(const GCS_MAVLINK &gcs_chan, bool check_rc);
MAV_RESULT mavlink_motor_test_start(const GCS_MAVLINK &gcs_chan, uint8_t motor_seq, uint8_t throttle_type, uint16_t throttle_value, float timeout_sec, uint8_t motor_count);
MAV_RESULT mavlink_motor_test_start(const GCS_MAVLINK &gcs_chan, uint8_t motor_seq, uint8_t throttle_type, float throttle_value, float timeout_sec, uint8_t motor_count);
void motor_test_stop();
// motors.cpp

2
ArduCopter/GCS_Mavlink.cpp
View File

@ -808,7 +808,7 @@ MAV_RESULT GCS_MAVLINK_Copter::handle_command_long_packet(const mavlink_command_
return copter.mavlink_motor_test_start(*this,
(uint8_t)packet.param1,
(uint8_t)packet.param2,
(uint16_t)packet.param3,
packet.param3,
packet.param4,
(uint8_t)packet.param5);

8
ArduCopter/motor_test.cpp
View File

@ -15,7 +15,7 @@ static uint32_t motor_test_timeout_ms; // test will timeout this many milli
static uint8_t motor_test_seq; // motor sequence number of motor being tested
static uint8_t motor_test_count; // number of motors to test
static uint8_t motor_test_throttle_type; // motor throttle type (0=throttle percentage, 1=PWM, 2=pilot throttle channel pass-through)
static uint16_t motor_test_throttle_value; // throttle to be sent to motor, value depends upon it's type
static float motor_test_throttle_value; // throttle to be sent to motor, value depends upon it's type
// motor_test_output - checks for timeout and sends updates to motors objects
void Copter::motor_test_output()
@ -65,13 +65,13 @@ void Copter::motor_test_output()
if (motor_test_throttle_value <= 100) {
int16_t pwm_min = motors->get_pwm_output_min();
int16_t pwm_max = motors->get_pwm_output_max();
pwm = pwm_min + (pwm_max - pwm_min) * (float)motor_test_throttle_value/100.0f;
pwm = (int16_t) (pwm_min + (pwm_max - pwm_min) * motor_test_throttle_value * 1e-2f);
}
#endif
break;
case MOTOR_TEST_THROTTLE_PWM:
pwm = motor_test_throttle_value;
pwm = (int16_t)motor_test_throttle_value;
break;
case MOTOR_TEST_THROTTLE_PILOT:
@ -127,7 +127,7 @@ bool Copter::mavlink_motor_test_check(const GCS_MAVLINK &gcs_chan, bool check_rc
// mavlink_motor_test_start - start motor test - spin a single motor at a specified pwm
// returns MAV_RESULT_ACCEPTED on success, MAV_RESULT_FAILED on failure
MAV_RESULT Copter::mavlink_motor_test_start(const GCS_MAVLINK &gcs_chan, uint8_t motor_seq, uint8_t throttle_type, uint16_t throttle_value,
MAV_RESULT Copter::mavlink_motor_test_start(const GCS_MAVLINK &gcs_chan, uint8_t motor_seq, uint8_t throttle_type, float throttle_value,
float timeout_sec, uint8_t motor_count)
{
if (motor_count == 0) {