Mirror
/
ardupilot
mirror of https://github.com/ArduPilot/ardupilot
5
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity

Rover: motor test accepts negative percentages

This commit is contained in:
Randy Mackay 2017-07-15 17:18:46 +09:00
parent ebeb0923cb
commit 8a86b64776
3 changed files with 6 additions and 6 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

2
APMrover2/GCS_Mavlink.cpp
View File

@ -1046,7 +1046,7 @@ void GCS_MAVLINK_Rover::handleMessage(mavlink_message_t* msg)
// param4 : timeout (in seconds)
result = rover.mavlink_motor_test_start(chan, static_cast<uint8_t>(packet.param1),
static_cast<uint8_t>(packet.param2),
static_cast<uint16_t>(packet.param3),
static_cast<int16_t>(packet.param3),
packet.param4);
break;

4
APMrover2/Rover.h
View File

@ -635,8 +635,8 @@ public:
void update_soft_armed();
// Motor test
void motor_test_output();
bool mavlink_motor_test_check(mavlink_channel_t chan, bool check_rc, uint8_t motor_seq, uint8_t throttle_type, uint16_t throttle_value);
uint8_t mavlink_motor_test_start(mavlink_channel_t chan, uint8_t motor_seq, uint8_t throttle_type, uint16_t throttle_value, float timeout_sec);
bool mavlink_motor_test_check(mavlink_channel_t chan, bool check_rc, uint8_t motor_seq, uint8_t throttle_type, int16_t throttle_value);
uint8_t mavlink_motor_test_start(mavlink_channel_t chan, uint8_t motor_seq, uint8_t throttle_type, int16_t throttle_value, float timeout_sec);
void motor_test_stop();
};

6
APMrover2/motor_test.cpp
View File

@ -13,7 +13,7 @@ static uint32_t motor_test_start_ms = 0; // system time the motor test be
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 uint8_t motor_test_throttle_type = 0; // motor throttle type (0=throttle percentage, 1=PWM, 2=pilot throttle channel pass-through)
static uint16_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
// motor_test_output - checks for timeout and sends updates to motors objects
void Rover::motor_test_output()
@ -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(mavlink_channel_t chan, bool check_rc, uint8_t motor_seq, uint8_t throttle_type, uint16_t throttle_value)
bool Rover::mavlink_motor_test_check(mavlink_channel_t chan, bool check_rc, uint8_t motor_seq, uint8_t throttle_type, int16_t throttle_value)
{
GCS_MAVLINK_Rover &gcs_chan = gcs().chan(chan-MAVLINK_COMM_0);
@ -110,7 +110,7 @@ bool Rover::mavlink_motor_test_check(mavlink_channel_t chan, bool check_rc, uint
// 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
uint8_t Rover::mavlink_motor_test_start(mavlink_channel_t chan, uint8_t motor_seq, uint8_t throttle_type, uint16_t throttle_value, float timeout_sec)
uint8_t Rover::mavlink_motor_test_start(mavlink_channel_t chan, uint8_t motor_seq, uint8_t throttle_type, int16_t throttle_value, float timeout_sec)
{
// if test has not started try to start it
if (!motor_test) {