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Rover: motortest: pass a GCS_MAVLINK& in place of a channel

This commit is contained in:
Peter Barker 2019-06-27 09:31:01 +10:00 committed by Randy Mackay
parent 10770b5c7f
commit 51070b39d9
3 changed files with 6 additions and 12 deletions
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2
APMrover2/GCS_Mavlink.cpp
View File

@ -666,7 +666,7 @@ MAV_RESULT GCS_MAVLINK_Rover::handle_command_long_packet(const mavlink_command_l
// param2 : throttle type (0=throttle percentage, 1=PWM, 2=pilot throttle channel pass-through. See MOTOR_TEST_THROTTLE_TYPE enum)
// param3 : throttle (range depends upon param2)
// param4 : timeout (in seconds)
return rover.mavlink_motor_test_start(chan,
return rover.mavlink_motor_test_start(*this,
static_cast<uint8_t>(packet.param1),
static_cast<uint8_t>(packet.param2),
static_cast<int16_t>(packet.param3),

4
APMrover2/Rover.h
View File

@ -476,8 +476,8 @@ public:
void failsafe_check();
// Motor test
void motor_test_output();
bool mavlink_motor_test_check(mavlink_channel_t chan, bool check_rc, uint8_t motor_seq, uint8_t throttle_type, int16_t throttle_value);
MAV_RESULT mavlink_motor_test_start(mavlink_channel_t chan, uint8_t motor_seq, uint8_t throttle_type, int16_t throttle_value, float timeout_sec);
bool mavlink_motor_test_check(const GCS_MAVLINK &gcs_chan, bool check_rc, uint8_t motor_seq, uint8_t throttle_type, int16_t throttle_value);
MAV_RESULT mavlink_motor_test_start(const GCS_MAVLINK &gcs_chan, uint8_t motor_seq, uint8_t throttle_type, int16_t throttle_value, float timeout_sec);
void motor_test_stop();
// frame type

12
APMrover2/motor_test.cpp
View File

@ -60,14 +60,8 @@ void Rover::motor_test_output()
// mavlink_motor_test_check - perform checks before motor tests can begin
// return true if tests can continue, false if not
bool Rover::mavlink_motor_test_check(mavlink_channel_t chan, bool check_rc, uint8_t motor_seq, uint8_t throttle_type, int16_t throttle_value)
bool Rover::mavlink_motor_test_check(const GCS_MAVLINK &gcs_chan, bool check_rc, uint8_t motor_seq, uint8_t throttle_type, int16_t throttle_value)
{
GCS_MAVLINK_Rover *gcs_chan_ptr = gcs().chan(chan-MAVLINK_COMM_0);
if (gcs_chan_ptr == nullptr) {
return false;
}
GCS_MAVLINK_Rover &gcs_chan = *gcs_chan_ptr;
// check board has initialised
if (!initialised) {
gcs_chan.send_text(MAV_SEVERITY_CRITICAL, "Motor Test: Board initialising");
@ -114,7 +108,7 @@ bool Rover::mavlink_motor_test_check(mavlink_channel_t chan, bool check_rc, uint
// 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 Rover::mavlink_motor_test_start(mavlink_channel_t chan, uint8_t motor_seq, uint8_t throttle_type, int16_t throttle_value, float timeout_sec)
MAV_RESULT Rover::mavlink_motor_test_start(const GCS_MAVLINK &gcs_chan, uint8_t motor_seq, uint8_t throttle_type, int16_t throttle_value, float timeout_sec)
{
// if test has not started try to start it
if (!motor_test) {
@ -122,7 +116,7 @@ MAV_RESULT Rover::mavlink_motor_test_start(mavlink_channel_t chan, uint8_t motor
The RC calibrated check can be skipped if direct pwm is
supplied
*/
if (!mavlink_motor_test_check(chan, throttle_type != 1, motor_seq, throttle_type, throttle_value)) {
if (!mavlink_motor_test_check(gcs_chan, throttle_type != 1, motor_seq, throttle_type, throttle_value)) {
return MAV_RESULT_FAILED;
} else {
// start test