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https://github.com/ArduPilot/ardupilot
synced 2025-01-08 17:08:28 -04:00
Copter: remove cli motor test
This commit is contained in:
Randy Mackay
parent
2be99d7a92
commit
416e9457ce
@ -9,8 +9,6 @@ static int8_t test_baro(uint8_t argc, const Menu::arg *argv);
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#endif
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static int8_t test_compass(uint8_t argc, const Menu::arg *argv);
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static int8_t test_ins(uint8_t argc, const Menu::arg *argv);
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static int8_t test_motors(uint8_t argc, const Menu::arg *argv);
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static int8_t test_motorsync(uint8_t argc, const Menu::arg *argv);
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static int8_t test_optflow(uint8_t argc, const Menu::arg *argv);
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static int8_t test_relay(uint8_t argc, const Menu::arg *argv);
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#if CONFIG_HAL_BOARD == HAL_BOARD_PX4 || CONFIG_HAL_BOARD == HAL_BOARD_VRBRAIN
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@ -30,8 +28,6 @@ const struct Menu::command test_menu_commands[] PROGMEM = {
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#endif
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{"compass", test_compass},
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{"ins", test_ins},
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{"motors", test_motors},
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{"motorsync", test_motorsync},
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{"optflow", test_optflow},
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{"relay", test_relay},
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#if CONFIG_HAL_BOARD == HAL_BOARD_PX4 || CONFIG_HAL_BOARD == HAL_BOARD_VRBRAIN
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@ -198,159 +194,6 @@ test_ins(uint8_t argc, const Menu::arg *argv)
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}
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}
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static int8_t
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test_motors(uint8_t argc, const Menu::arg *argv)
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{
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cliSerial->printf_P(PSTR(
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"Connect battery for this test.\n"
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"Motors will spin by frame position order.\n"
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"Front (& right of centerline) motor first, then in clockwise order around frame.\n"
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"Remember to disconnect battery after this test.\n"
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"Any key to exit.\n"));
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// ensure all values have been sent to motors
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motors.set_update_rate(g.rc_speed);
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motors.set_frame_orientation(g.frame_orientation);
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motors.set_min_throttle(g.throttle_min);
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motors.set_mid_throttle(g.throttle_mid);
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// enable motors
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init_rc_out();
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while(1) {
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delay(20);
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read_radio();
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motors.output_test();
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if(cliSerial->available() > 0) {
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g.esc_calibrate.set_and_save(0);
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return(0);
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}
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}
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}
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// test_motorsync - suddenly increases pwm output to motors to test if ESC loses sync
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static int8_t
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test_motorsync(uint8_t argc, const Menu::arg *argv)
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{
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bool test_complete = false;
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bool spin_motors = false;
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uint32_t spin_start_time = 0;
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uint32_t last_run_time;
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int16_t last_throttle = 0;
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int16_t c;
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// check if radio is calibration
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pre_arm_rc_checks();
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if (!ap.pre_arm_rc_check) {
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cliSerial->print_P(PSTR("radio not calibrated\n"));
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return 0;
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}
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// print warning that motors will spin
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// ask user to raise throttle
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// inform how to stop test
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cliSerial->print_P(PSTR("This sends sudden outputs to the motors based on the pilot's throttle to test for ESC loss of sync. Motors will spin so mount props up-side-down!\n Hold throttle low, then raise throttle stick to desired level and press A. Motors will spin for 2 sec and then return to low.\nPress any key to exit.\n"));
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// clear out user input
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while (cliSerial->available()) {
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cliSerial->read();
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}
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// disable throttle and battery failsafe
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g.failsafe_throttle = FS_THR_DISABLED;
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g.failsafe_battery_enabled = FS_BATT_DISABLED;
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// read radio
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read_radio();
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// exit immediately if throttle is not zero
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if( g.rc_3.control_in != 0 ) {
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cliSerial->print_P(PSTR("throttle not zero\n"));
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return 0;
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}
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// clear out any user input
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while (cliSerial->available()) {
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cliSerial->read();
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}
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// enable motors and pass through throttle
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init_rc_out();
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output_min();
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motors.armed(true);
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// initialise run time
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last_run_time = millis();
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// main run while the test is not complete
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while(!test_complete) {
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// 50hz loop
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if( millis() - last_run_time > 20 ) {
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last_run_time = millis();
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// read radio input
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read_radio();
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// display throttle value
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if (abs(g.rc_3.control_in-last_throttle) > 10) {
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cliSerial->printf_P(PSTR("\nThr:%d"),g.rc_3.control_in);
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last_throttle = g.rc_3.control_in;
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}
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// decode user input
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if (cliSerial->available()) {
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c = cliSerial->read();
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if (c == 'a' || c == 'A') {
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spin_motors = true;
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spin_start_time = millis();
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// display user's throttle level
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cliSerial->printf_P(PSTR("\nSpin motors at:%d"),(int)g.rc_3.control_in);
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// clear out any other use input queued up
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while (cliSerial->available()) {
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cliSerial->read();
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}
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}else{
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// any other input ends the test
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test_complete = true;
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motors.armed(false);
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}
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}
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// check if time to stop motors
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if (spin_motors) {
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if ((millis() - spin_start_time) > 2000) {
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spin_motors = false;
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cliSerial->printf_P(PSTR("\nMotors stopped"));
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}
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}
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// output to motors
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if (spin_motors) {
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// pass pilot throttle through to motors
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motors.throttle_pass_through();
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}else{
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// spin motors at minimum
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output_min();
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}
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}
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}
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// stop motors
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motors.output_min();
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motors.armed(false);
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// clear out any user input
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while( cliSerial->available() ) {
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cliSerial->read();
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}
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// display completion message
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cliSerial->printf_P(PSTR("\nTest complete\n"));
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return 0;
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}
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static int8_t
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test_optflow(uint8_t argc, const Menu::arg *argv)
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{
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