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Rover: rename and tighten type on motor_test_seq 

This name is too close to "order" which is a completely separate concept
in the mavlink test packet.

Renamed it to motor_test_instance.
This commit is contained in:
Peter Barker 2019-08-18 10:05:10 +10:00 committed by Randy Mackay
parent c153a2d891
commit 56c0866d06
3 changed files with 14 additions and 14 deletions
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2
APMrover2/GCS_Mavlink.cpp
View File

@ -667,7 +667,7 @@ MAV_RESULT GCS_MAVLINK_Rover::handle_command_long_packet(const mavlink_command_l
// param3 : throttle (range depends upon param2)
// param4 : timeout (in seconds)
return rover.mavlink_motor_test_start(*this,
static_cast<uint8_t>(packet.param1),
(AP_MotorsUGV::motor_test_order)packet.param1,
static_cast<uint8_t>(packet.param2),
static_cast<int16_t>(packet.param3),
packet.param4);

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(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);
bool mavlink_motor_test_check(const GCS_MAVLINK &gcs_chan, bool check_rc, AP_MotorsUGV::motor_test_order motor_instance, uint8_t throttle_type, int16_t throttle_value);
MAV_RESULT mavlink_motor_test_start(const GCS_MAVLINK &gcs_chan, AP_MotorsUGV::motor_test_order motor_instance, uint8_t throttle_type, int16_t throttle_value, float timeout_sec);
void motor_test_stop();
// frame type

22
APMrover2/motor_test.cpp
View File

@ -11,7 +11,7 @@ static const int16_t MOTOR_TEST_TIMEOUT_MS_MAX = 30000; // max timeout is 30 sec
static uint32_t motor_test_start_ms = 0; // system time the motor test began
static uint32_t motor_test_timeout_ms = 0; // test will timeout this many milliseconds after the motor_test_start_ms
static uint8_t motor_test_seq = 0; // motor sequence number of motor being tested
static AP_MotorsUGV::motor_test_order motor_test_instance; // motor instance number of motor being tested (see AP_MotorsUGV::motor_test_order)
static uint8_t motor_test_throttle_type = 0; // motor throttle type (0=throttle percentage, 1=PWM, 2=pilot throttle channel pass-through)
static int16_t motor_test_throttle_value = 0; // throttle to be sent to motor, value depends upon it's type
@ -32,18 +32,18 @@ void Rover::motor_test_output()
// calculate based on throttle type
switch (motor_test_throttle_type) {
case MOTOR_TEST_THROTTLE_PERCENT:
test_result = g2.motors.output_test_pct((AP_MotorsUGV::motor_test_order)motor_test_seq, motor_test_throttle_value);
test_result = g2.motors.output_test_pct(motor_test_instance, motor_test_throttle_value);
break;
case MOTOR_TEST_THROTTLE_PWM:
test_result = g2.motors.output_test_pwm((AP_MotorsUGV::motor_test_order)motor_test_seq, motor_test_throttle_value);
test_result = g2.motors.output_test_pwm(motor_test_instance, motor_test_throttle_value);
break;
case MOTOR_TEST_THROTTLE_PILOT:
if ((AP_MotorsUGV::motor_test_order)motor_test_seq == AP_MotorsUGV::MOTOR_TEST_STEERING) {
test_result = g2.motors.output_test_pct((AP_MotorsUGV::motor_test_order)motor_test_seq, channel_steer->norm_input_dz() * 100.0f);
if (motor_test_instance == AP_MotorsUGV::MOTOR_TEST_STEERING) {
test_result = g2.motors.output_test_pct(motor_test_instance, channel_steer->norm_input_dz() * 100.0f);
} else {
test_result = g2.motors.output_test_pct((AP_MotorsUGV::motor_test_order)motor_test_seq, channel_throttle->get_control_in());
test_result = g2.motors.output_test_pct(motor_test_instance, channel_throttle->get_control_in());
}
break;
@ -60,7 +60,7 @@ 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(const GCS_MAVLINK &gcs_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, AP_MotorsUGV::motor_test_order motor_seq, uint8_t throttle_type, int16_t throttle_value)
{
// check board has initialised
if (!initialised) {
@ -108,15 +108,15 @@ bool Rover::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 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)
MAV_RESULT Rover::mavlink_motor_test_start(const GCS_MAVLINK &gcs_chan, AP_MotorsUGV::motor_test_order motor_instance, uint8_t throttle_type, int16_t throttle_value, float timeout_sec)
{
// if test has not started try to start it
if (!motor_test) {
/* perform checks that it is ok to start test
The RC calibrated check can be skipped if direct pwm is
supplied
suppliedo
*/
if (!mavlink_motor_test_check(gcs_chan, throttle_type != 1, motor_seq, throttle_type, throttle_value)) {
if (!mavlink_motor_test_check(gcs_chan, throttle_type != 1, motor_instance, throttle_type, throttle_value)) {
return MAV_RESULT_FAILED;
} else {
// start test
@ -142,7 +142,7 @@ MAV_RESULT Rover::mavlink_motor_test_start(const GCS_MAVLINK &gcs_chan, uint8_t
motor_test_timeout_ms = MIN(timeout_sec * 1000, MOTOR_TEST_TIMEOUT_MS_MAX);
// store required output
motor_test_seq = motor_seq;
motor_test_instance = motor_instance;
motor_test_throttle_type = throttle_type;
motor_test_throttle_value = throttle_value;