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AP_Motors: example: add thrust boost

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Iampete1 2023-02-25 17:33:21 +00:00 committed by Andrew Tridgell
parent 1a754904e9
commit 9e71c9953d
2 changed files with 11 additions and 1 deletions
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7
libraries/AP_Motors/examples/AP_Motors_test/AP_Motors_test.cpp
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@ -42,6 +42,8 @@ AP_MotorsMatrix motors(400);
AP_BattMonitor _battmonitor{0, nullptr, nullptr}; AP_BattMonitor _battmonitor{0, nullptr, nullptr};
bool thrust_boost = false;
// setup // setup
void setup() void setup()
{ {
@ -91,6 +93,9 @@ void setup()
} else if (strcmp(cmd,"throttle_avg_max") == 0) { } else if (strcmp(cmd,"throttle_avg_max") == 0) {
motors.set_throttle_avg_max(value); motors.set_throttle_avg_max(value);
} else if (strcmp(cmd,"thrust_boost") == 0) {
thrust_boost = value > 0.0;
} else { } else {
::printf("Expected \"yaw_headroom\" or \"throttle_avg_max\"\n"); ::printf("Expected \"yaw_headroom\" or \"throttle_avg_max\"\n");
exit(1); exit(1);
@ -162,6 +167,7 @@ void stability_test()
{ {
hal.console->printf("Throttle average max: %0.4f\n", motors.get_throttle_avg_max()); hal.console->printf("Throttle average max: %0.4f\n", motors.get_throttle_avg_max());
hal.console->printf("Yaw headroom: %i\n", motors.get_yaw_headroom()); hal.console->printf("Yaw headroom: %i\n", motors.get_yaw_headroom());
hal.console->printf("Thrust boost: %s\n", thrust_boost?"True":"False");
const float throttle_tests[] = {0.0, 0.1, 0.2, 0.3, 0.4, 0.5, 0.6, 0.7, 0.8, 0.9, 1.0}; const float throttle_tests[] = {0.0, 0.1, 0.2, 0.3, 0.4, 0.5, 0.6, 0.7, 0.8, 0.9, 1.0};
const uint8_t throttle_tests_num = ARRAY_SIZE(throttle_tests); const uint8_t throttle_tests_num = ARRAY_SIZE(throttle_tests);
@ -229,6 +235,7 @@ void update_motors()
{ {
// call update motors 1000 times to get any ramp limiting complete // call update motors 1000 times to get any ramp limiting complete
for (uint16_t i=0; i<1000; i++) { for (uint16_t i=0; i<1000; i++) {
motors.set_thrust_boost(thrust_boost);
motors.output(); motors.output();
} }
} }

5
libraries/AP_Motors/examples/AP_Motors_test/MotorTestSweep.sh
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@ -18,7 +18,10 @@ for headroom in $YAW_HEADROOM; do
echo "Yaw Headroom: $headroom" echo "Yaw Headroom: $headroom"
for Thr in $THR_AVERAGE_MAX; do for Thr in $THR_AVERAGE_MAX; do
echo " Throttle average max: $Thr" echo " Throttle average max: $Thr"
./build/linux/examples/AP_Motors_test s yaw_headroom=$headroom throttle_avg_max=$Thr > MotorTestSweep/$COUNTER.csv # Test with and without boost
./build/linux/examples/AP_Motors_test s yaw_headroom=$headroom throttle_avg_max=$Thr thrust_boost=0 > MotorTestSweep/$COUNTER.csv
let COUNTER++
./build/linux/examples/AP_Motors_test s yaw_headroom=$headroom throttle_avg_max=$Thr thrust_boost=1 > MotorTestSweep/$COUNTER.csv
let COUNTER++ let COUNTER++
done done
echo echo