AP_Motors: example: support setting and testing DUAL_MODE

libraries/AP_Motors/examples/AP_Motors_test/AP_Motors_test.cpp

@@ -120,6 +120,15 @@ void setup()
                     exit(1);
                 }
 
+            } else if (strcmp(cmd,"dual_mode") == 0) {
+                if (frame_class != AP_Motors::MOTOR_FRAME_HELI_DUAL) {
+                    ::printf("dual_mode only supported by dual heli frame type (%i), got %i\n", AP_Motors::MOTOR_FRAME_HELI_DUAL, frame_class);
+                    exit(1);
+                }
+
+                // look away now, more dodgy param access.
+                AP_Int8 *dual_mode = (AP_Int8*)motors + AP_MotorsHeli_Dual::var_info[1].offset;
+                dual_mode->set(value);
 
             } else if (strcmp(cmd,"frame_class") == 0) {
                 // We must have the frame_class argument 2nd as resulting class is used to determine if

libraries/AP_Motors/examples/AP_Motors_test/run_heli_comparison.py

@@ -96,9 +96,12 @@ swash_type_lookup = {0: 'H3',
                      4: 'H4_90',
                      5: 'H4_45'}
 
+dual_mode_lookup = {0: 'Longitudinal',
+                    1: 'Transverse',
+                    2: 'Intermeshing_or_Coaxial'}
 
 # Run sweep over range of types
-def run_sweep(frame_class, swash_type, dir_name):
+def run_sweep(frame_class, swash_type, dual_mode, dir_name):
 
     # configure and build the test
     os.system('./waf configure --board linux')
@@ -107,18 +110,28 @@ def run_sweep(frame_class, swash_type, dir_name):
     # Run sweep
     for fc in frame_class:
         for swash in swash_type:
+            for mode in dual_mode:
                 if swash is not None:
+                    swash_cmd = 'swash=%d' % swash
+
+                    if mode is not None:
+                        name = 'frame class = %s (%i), swash = %s (%i), dual mode = %s (%i)' % (frame_class_lookup[fc], fc, swash_type_lookup[swash], swash, dual_mode_lookup[mode], mode)
+                        filename = '%s_%s_%s_motor_test.csv' % (frame_class_lookup[fc], swash_type_lookup[swash], dual_mode_lookup[mode])
+                        mode_cmd = 'dual_mode=%d' % mode
+
+                    else:
                         name = 'frame class = %s (%i), swash = %s (%i)' % (frame_class_lookup[fc], fc, swash_type_lookup[swash], swash)
                         filename = '%s_%s_motor_test.csv' % (frame_class_lookup[fc], swash_type_lookup[swash])
-                swash_cmd = 'swash=%d' % swash
+                        mode_cmd = ''
 
                 else:
                     name = 'frame class = %s (%i)' % (frame_class_lookup[fc], fc)
                     filename = '%s_motor_test.csv' % (frame_class_lookup[fc])
                     swash_cmd = ''
+                    mode_cmd = ''
 
                 print('Running motors test for %s' % name)
-            os.system('./build/linux/examples/AP_Motors_test s frame_class=%d %s > %s/%s' % (fc, swash_cmd, dir_name, filename))
+                os.system('./build/linux/examples/AP_Motors_test s frame_class=%d %s %s > %s/%s' % (fc, swash_cmd, mode_cmd, dir_name, filename))
                 print('%s complete\n' % name)
 
 
@@ -135,6 +148,7 @@ if __name__ == '__main__':
     parser.add_argument("-s", "--swash-type", type=int, dest='swash_type', nargs="+", help="list of swashplate types to run comparison on. Defaults to test all types. Invalid for heli quad")
     parser.add_argument("-c", "--compare", action='store_true', help='Compare only, do not re-run tests')
     parser.add_argument("-p", "--plot", action='store_true', help='Plot comparison results')
+    parser.add_argument("-m", "--dual_mode", type=int, dest='dual_mode', help='Set DUAL_MODE, 0:Longitudinal, 1:Transverse, 2:Intermeshing/Coaxial, default:run all')
     args = parser.parse_args()
 
     if 13 in args.frame_class:
@@ -147,6 +161,16 @@ if __name__ == '__main__':
         if not args.swash_type:
             args.swash_type = (0, 1, 2, 3, 4, 5)
 
+    if (args.frame_class != [11]) and (args.dual_mode is not None):
+        print('Only Frame %s (%i) supports dual_mode' % (frame_class_lookup[11], 11))
+        quit()
+
+    if args.frame_class == [11]:
+        if args.dual_mode is None:
+            args.dual_mode = (0, 1, 2)
+    else:
+        args.dual_mode = [None]
+
     dir_name = 'motors_comparison'
 
     if not args.compare:
@@ -161,7 +185,7 @@ if __name__ == '__main__':
         print('\nRunning motor tests with current changes\n')
 
         # run the test
-        run_sweep(args.frame_class, args.swash_type, new_name)
+        run_sweep(args.frame_class, args.swash_type, args.dual_mode, new_name)
 
         if args.head:
             # rewind head and repeat test
@@ -213,9 +237,16 @@ if __name__ == '__main__':
     # Print comparison
     for fc in args.frame_class:
         for sw in args.swash_type:
+            for dm in args.dual_mode:
                 frame = frame_class_lookup[fc]
                 if sw is not None:
                     swash = swash_type_lookup[sw]
+                    if dm is not None:
+                        mode = dual_mode_lookup[dm]
+                        name = frame + ' ' + swash + ' ' + mode
+                        filename = '%s_%s_%s_motor_test.csv' % (frame, swash, mode)
+
+                    else:
                         name = frame + ' ' + swash
                         filename = '%s_%s_motor_test.csv' % (frame, swash)