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Rover: rename and tighten type on motor_test_seq

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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) // param3 : throttle (range depends upon param2)
// param4 : timeout (in seconds) // param4 : timeout (in seconds)
return rover.mavlink_motor_test_start(*this, 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<uint8_t>(packet.param2),
static_cast<int16_t>(packet.param3), static_cast<int16_t>(packet.param3),
packet.param4); packet.param4);

4
APMrover2/Rover.h
View File

@ -476,8 +476,8 @@ public:
void failsafe_check(); void failsafe_check();
// Motor test // Motor test
void motor_test_output(); 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); 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, uint8_t motor_seq, uint8_t throttle_type, int16_t throttle_value, float timeout_sec); 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(); void motor_test_stop();
// frame type // 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_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 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 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 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 // calculate based on throttle type
switch (motor_test_throttle_type) { switch (motor_test_throttle_type) {
case MOTOR_TEST_THROTTLE_PERCENT: 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; break;
case MOTOR_TEST_THROTTLE_PWM: 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; break;
case MOTOR_TEST_THROTTLE_PILOT: case MOTOR_TEST_THROTTLE_PILOT:
if ((AP_MotorsUGV::motor_test_order)motor_test_seq == AP_MotorsUGV::MOTOR_TEST_STEERING) { if (motor_test_instance == 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); test_result = g2.motors.output_test_pct(motor_test_instance, channel_steer->norm_input_dz() * 100.0f);
} else { } 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; break;
@ -60,7 +60,7 @@ void Rover::motor_test_output()
// mavlink_motor_test_check - perform checks before motor tests can begin // mavlink_motor_test_check - perform checks before motor tests can begin
// return true if tests can continue, false if not // 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 // check board has initialised
if (!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 // 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 // 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 test has not started try to start it
if (!motor_test) { if (!motor_test) {
/* perform checks that it is ok to start test /* perform checks that it is ok to start test
The RC calibrated check can be skipped if direct pwm is 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; return MAV_RESULT_FAILED;
} else { } else {
// start test // 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); motor_test_timeout_ms = MIN(timeout_sec * 1000, MOTOR_TEST_TIMEOUT_MS_MAX);
// store required output // store required output
motor_test_seq = motor_seq; motor_test_instance = motor_instance;
motor_test_throttle_type = throttle_type; motor_test_throttle_type = throttle_type;
motor_test_throttle_value = throttle_value; motor_test_throttle_value = throttle_value;