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Copter: allow motor tests to be triggered with COMMAND_INT

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This commit is contained in:
Peter Barker 2023-09-12 11:01:00 +10:00 committed by Andrew Tridgell
parent a1b021e833
commit 5e9c2a04d0
3 changed files with 22 additions and 10 deletions
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17
ArduCopter/GCS_Mavlink.cpp
View File

@ -756,6 +756,9 @@ MAV_RESULT GCS_MAVLINK_Copter::handle_command_int_packet(const mavlink_command_i
case MAV_CMD_DO_PAUSE_CONTINUE:
return handle_command_pause_continue(packet);
case MAV_CMD_DO_MOTOR_TEST:
return handle_MAV_CMD_DO_MOTOR_TEST(packet);
#if AC_MAVLINK_SOLO_BUTTON_COMMAND_HANDLING_ENABLED
// Solo user presses pause button
case MAV_CMD_SOLO_BTN_PAUSE_CLICK:
@ -915,7 +918,13 @@ MAV_RESULT GCS_MAVLINK_Copter::handle_command_long_packet(const mavlink_command_
return MAV_RESULT_FAILED;
#endif
case MAV_CMD_DO_MOTOR_TEST:
default:
return GCS_MAVLINK::handle_command_long_packet(packet, msg);
}
}
MAV_RESULT GCS_MAVLINK_Copter::handle_MAV_CMD_DO_MOTOR_TEST(const mavlink_command_int_t &packet)
{
// param1 : motor sequence number (a number from 1 to max number of motors on the vehicle)
// 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)
@ -927,11 +936,7 @@ MAV_RESULT GCS_MAVLINK_Copter::handle_command_long_packet(const mavlink_command_
(uint8_t)packet.param2,
packet.param3,
packet.param4,
(uint8_t)packet.param5);
default:
return GCS_MAVLINK::handle_command_long_packet(packet, msg);
}
(uint8_t)packet.x);
}
#if AP_WINCH_ENABLED

2
ArduCopter/GCS_Mavlink.h
View File

@ -98,6 +98,8 @@ private:
#endif // HAL_HIGH_LATENCY2_ENABLED
MAV_RESULT handle_MAV_CMD_DO_MOTOR_TEST(const mavlink_command_int_t &packet);
#if AC_MAVLINK_SOLO_BUTTON_COMMAND_HANDLING_ENABLED
MAV_RESULT handle_MAV_CMD_SOLO_BTN_FLY_CLICK(const mavlink_command_int_t &packet);
MAV_RESULT handle_MAV_CMD_SOLO_BTN_FLY_HOLD(const mavlink_command_int_t &packet);

13
Tools/autotest/arducopter.py
View File

@ -3800,14 +3800,14 @@ class AutoTestCopter(AutoTest):
self.disarm_vehicle(force=True)
self.reboot_sitl()
def MotorTest(self, timeout=60):
'''Run Motor Tests'''
def _MotorTest(self, command, timeout=60):
'''Run Motor Tests (with specific mavlink message)'''
self.start_subtest("Testing PWM output")
pwm_in = 1300
# default frame is "+" - start motor of 2 is "B", which is
# motor 1... see
# https://ardupilot.org/copter/docs/connect-escs-and-motors.html
self.run_cmd(
command(
mavutil.mavlink.MAV_CMD_DO_MOTOR_TEST,
p1=2, # start motor
p2=mavutil.mavlink.MOTOR_TEST_THROTTLE_PWM,
@ -3829,7 +3829,7 @@ class AutoTestCopter(AutoTest):
# min/max are used.
expected_pwm = 1000 + (self.get_parameter("RC3_MAX") - self.get_parameter("RC3_MIN")) * percentage/100.0
self.progress("expected pwm=%f" % expected_pwm)
self.run_cmd(
command(
mavutil.mavlink.MAV_CMD_DO_MOTOR_TEST,
p1=2, # start motor
p2=mavutil.mavlink.MOTOR_TEST_THROTTLE_PERCENT,
@ -3844,6 +3844,11 @@ class AutoTestCopter(AutoTest):
self.wait_statustext("finished motor test")
self.end_subtest("Testing percentage output")
def MotorTest(self, timeout=60):
'''Run Motor Tests'''
self._MotorTest(self.run_cmd)
self._MotorTest(self.run_cmd_int)
def PrecisionLanding(self):
"""Use PrecLand backends precision messages to land aircraft."""