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Added failsafe radio test! 

git-svn-id: https://arducopter.googlecode.com/svn/trunk@1524 f9c3cf11-9bcb-44bc-f272-b75c42450872
This commit is contained in:
jasonshort 2011-01-22 20:25:14 +00:00
parent 39b718fce0
commit 7205208801
1 changed files with 54 additions and 0 deletions
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54
ArduCopterMega/test.pde
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@ -2,6 +2,7 @@
// are defined below. Order matters to the compiler. // are defined below. Order matters to the compiler.
static int8_t test_radio_pwm(uint8_t argc, const Menu::arg *argv); static int8_t test_radio_pwm(uint8_t argc, const Menu::arg *argv);
static int8_t test_radio(uint8_t argc, const Menu::arg *argv); static int8_t test_radio(uint8_t argc, const Menu::arg *argv);
static int8_t test_failsafe(uint8_t argc, const Menu::arg *argv);
static int8_t test_stabilize(uint8_t argc, const Menu::arg *argv); static int8_t test_stabilize(uint8_t argc, const Menu::arg *argv);
static int8_t test_fbw(uint8_t argc, const Menu::arg *argv); static int8_t test_fbw(uint8_t argc, const Menu::arg *argv);
static int8_t test_gps(uint8_t argc, const Menu::arg *argv); static int8_t test_gps(uint8_t argc, const Menu::arg *argv);
@ -40,6 +41,7 @@ static int8_t test_eedump(uint8_t argc, const Menu::arg *argv);
const struct Menu::command test_menu_commands[] PROGMEM = { const struct Menu::command test_menu_commands[] PROGMEM = {
{"pwm", test_radio_pwm}, {"pwm", test_radio_pwm},
{"radio", test_radio}, {"radio", test_radio},
{"failsafe", test_failsafe},
{"stabilize", test_stabilize}, {"stabilize", test_stabilize},
{"fbw", test_fbw}, {"fbw", test_fbw},
{"gps", test_gps}, {"gps", test_gps},
@ -144,6 +146,58 @@ test_radio(uint8_t argc, const Menu::arg *argv)
} }
} }
static int8_t
test_failsafe(uint8_t argc, const Menu::arg *argv)
{
byte fail_test;
print_hit_enter();
for(int i = 0; i < 50; i++){
delay(20);
read_radio();
}
// read the radio to set trims
// ---------------------------
trim_radio();
oldSwitchPosition = readSwitch();
Serial.printf_P(PSTR("Unplug battery, turn off radio.\n"));
while(1){
delay(20);
// Filters radio input - adjust filters in the radio.pde file
// ----------------------------------------------------------
read_radio();
if(rc_3.control_in > 0){
Serial.printf_P(PSTR("THROTTLE ERROR %d \n"), rc_3.control_in);
fail_test++;
}
if(oldSwitchPosition != readSwitch()){
Serial.printf_P(PSTR("MODE CHANGE: "));
Serial.println(flight_mode_strings[readSwitch()]);
fail_test++;
}
if(throttle_failsafe_enabled && rc_3.get_failsafe()){
Serial.printf_P(PSTR("THROTTLE FAILSAFE ACTIVATED: %d, "), rc_3.radio_in);
Serial.println(flight_mode_strings[readSwitch()]);
fail_test++;
}
if(fail_test > 0){
return (0);
}
if(Serial.available() > 0){
Serial.printf_P(PSTR("LOS caused no change in ACM.\n"));
return (0);
}
}
}
static int8_t static int8_t
test_stabilize(uint8_t argc, const Menu::arg *argv) test_stabilize(uint8_t argc, const Menu::arg *argv)
{ {