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Copter: move motors test to test menu

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Also allow test to be run from mission planner's cli window
This commit is contained in:
Randy Mackay 2013-05-31 14:32:40 +09:00
parent 76028fc9d3
commit a0c8bf238e
2 changed files with 34 additions and 23 deletions
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23
ArduCopter/setup.pde
View File

@ -4,7 +4,6 @@
// Functions called from the setup menu
static int8_t setup_radio (uint8_t argc, const Menu::arg *argv);
static int8_t setup_motors (uint8_t argc, const Menu::arg *argv);
static int8_t setup_accel (uint8_t argc, const Menu::arg *argv);
static int8_t setup_accel_scale (uint8_t argc, const Menu::arg *argv);
static int8_t setup_frame (uint8_t argc, const Menu::arg *argv);
@ -35,7 +34,6 @@ const struct Menu::command setup_menu_commands[] PROGMEM = {
{"reset", setup_factory},
{"radio", setup_radio},
{"frame", setup_frame},
{"motors", setup_motors},
{"level", setup_accel},
{"accel", setup_accel_scale},
{"modes", setup_flightmodes},
@ -237,27 +235,6 @@ setup_radio(uint8_t argc, const Menu::arg *argv)
return(0);
}
static int8_t
setup_motors(uint8_t argc, const Menu::arg *argv)
{
cliSerial->printf_P(PSTR(
"Connect battery for this test.\n"
"Motors will not spin in channel order (1,2,3,4) but by frame position order.\n"
"Front (& right of centerline) motor first, then in clockwise order around frame.\n"
"http://code.google.com/p/arducopter/wiki/AC2_Props_2 for demo video.\n"
"Remember to disconnect battery after this test.\n"
"Any key to exit.\n"));
while(1) {
delay(20);
read_radio();
motors.output_test();
if(cliSerial->available() > 0) {
g.esc_calibrate.set_and_save(0);
return(0);
}
}
}
static int8_t
setup_accel(uint8_t argc, const Menu::arg *argv)
{

34
ArduCopter/test.pde
View File

@ -38,6 +38,7 @@ static int8_t test_eedump(uint8_t argc, const Menu::arg *argv);
#if CONFIG_HAL_BOARD == HAL_BOARD_PX4
static int8_t test_shell(uint8_t argc, const Menu::arg *argv);
#endif
static int8_t test_motors(uint8_t argc, const Menu::arg *argv);
// This is the help function
// PSTR is an AVR macro to read strings from flash memory
@ -81,6 +82,7 @@ const struct Menu::command test_menu_commands[] PROGMEM = {
#if CONFIG_HAL_BOARD == HAL_BOARD_PX4
{"shell", test_shell},
#endif
{"motors", test_motors},
};
// A Macro to create the Menu
@ -624,6 +626,38 @@ test_shell(uint8_t argc, const Menu::arg *argv)
}
#endif
static int8_t
test_motors(uint8_t argc, const Menu::arg *argv)
{
cliSerial->printf_P(PSTR(
"Connect battery for this test.\n"
"Motors will not spin in channel order (1,2,3,4) but by frame position order.\n"
"Front (& right of centerline) motor first, then in clockwise order around frame.\n"
"http://code.google.com/p/arducopter/wiki/AC2_Props_2 for demo video.\n"
"Remember to disconnect battery after this test.\n"
"Any key to exit.\n"));
// ensure all values have been sent to motors
motors.set_update_rate(g.rc_speed);
motors.set_frame_orientation(g.frame_orientation);
motors.set_min_throttle(g.throttle_min);
motors.set_mid_throttle(g.throttle_mid);
motors.set_max_throttle(g.throttle_max);
// enable motors
init_rc_out();
while(1) {
delay(20);
read_radio();
motors.output_test();
if(cliSerial->available() > 0) {
g.esc_calibrate.set_and_save(0);
return(0);
}
}
}
static void print_hit_enter()
{
cliSerial->printf_P(PSTR("Hit Enter to exit.\n\n"));