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Copter: motor test: check E-stop

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Iampete1 2022-02-09 01:00:43 +00:00 committed by Randy Mackay
parent 8af5f5b2d7
commit 95b8630a09
1 changed files with 7 additions and 2 deletions
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9
ArduCopter/motor_test.cpp
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@ -121,6 +121,12 @@ bool Copter::mavlink_motor_control_check(const GCS_MAVLINK &gcs_chan, bool check
return false;
}
// check E-Stop is not active
if (SRV_Channels::get_emergency_stop()) {
gcs_chan.send_text(MAV_SEVERITY_CRITICAL,"%s: Motor Emergency Stopped", mode);
return false;
}
// if we got this far the check was successful and the motor test can continue
return true;
}
@ -135,8 +141,6 @@ MAV_RESULT Copter::mavlink_motor_test_start(const GCS_MAVLINK &gcs_chan, uint8_t
}
// if test has not started try to start it
if (!ap.motor_test) {
gcs().send_text(MAV_SEVERITY_INFO, "starting motor test");
/* perform checks that it is ok to start test
The RC calibrated check can be skipped if direct pwm is
supplied
@ -145,6 +149,7 @@ MAV_RESULT Copter::mavlink_motor_test_start(const GCS_MAVLINK &gcs_chan, uint8_t
return MAV_RESULT_FAILED;
} else {
// start test
gcs().send_text(MAV_SEVERITY_INFO, "starting motor test");
ap.motor_test = true;
EXPECT_DELAY_MS(3000);