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AP_Motors: remove unused example sketch to test timing

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This test was only important on the slower AVR boards
This commit is contained in:
Randy Mackay 2016-02-05 10:22:17 +09:00
parent a3450b712c
commit a42706bdcc
5 changed files with 0 additions and 149 deletions
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111
libraries/AP_Motors/examples/AP_Motors_Time_test/AP_Motors_Time_test.cpp
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/*
* Example of AP_Motors library.
* Code by Randy Mackay. DIYDrones.com
*/
// Libraries
#include <AP_Common/AP_Common.h>
#include <AP_Param/AP_Param.h>
#include <AP_HAL/AP_HAL.h>
#include <AP_Math/AP_Math.h> // ArduPilot Mega Vector/Matrix math Library
#include <RC_Channel/RC_Channel.h> // RC Channel Library
#include <AP_Motors/AP_Motors.h>
#include <AP_Notify/AP_Notify.h>
#include <AP_GPS/AP_GPS.h>
#include <DataFlash/DataFlash.h>
#include <AP_InertialSensor/AP_InertialSensor.h>
#include <AP_ADC/AP_ADC.h>
#include <GCS_MAVLink/GCS_MAVLink.h>
#include <AP_Baro/AP_Baro.h>
#include <Filter/Filter.h>
#include <AP_AHRS/AP_AHRS.h>
#include <AP_Compass/AP_Compass.h>
#include <AP_Declination/AP_Declination.h>
#include <AP_Airspeed/AP_Airspeed.h>
#include <AP_Vehicle/AP_Vehicle.h>
#include <AP_Mission/AP_Mission.h>
#include <StorageManager/StorageManager.h>
#include <AP_Terrain/AP_Terrain.h>
#include <AP_NavEKF/AP_NavEKF.h>
#include <AP_BattMonitor/AP_BattMonitor.h>
#include <AP_RangeFinder/AP_RangeFinder.h>
const AP_HAL::HAL& hal = AP_HAL::get_HAL();
RC_Channel rc1(0), rc2(1), rc3(2), rc4(3);
// uncomment the row below depending upon what frame you are using
//AP_MotorsTri motors(rc1, rc2, rc3, rc4, 400);
AP_MotorsQuad motors(rc1, rc2, rc3, rc4, 400);
//AP_MotorsHexa motors(rc1, rc2, rc3, rc4, 400);
//AP_MotorsY6 motors(rc1, rc2, rc3, rc4, 400);
//AP_MotorsOcta motors(rc1, rc2, rc3, rc4, 400);
//AP_MotorsOctaQuad motors(rc1, rc2, rc3, rc4, 400);
//AP_MotorsHeli motors(rc1, rc2, rc3, rc4, 400);
// setup
void setup()
{
hal.console->println("AP_Motors_Time test");
// motor initialisation
motors.set_update_rate(490);
// motors.set_frame_orientation(AP_MOTORS_X_FRAME);
motors.set_frame_orientation(AP_MOTORS_PLUS_FRAME);
motors.set_min_throttle(130);
motors.set_hover_throttle(500);
motors.Init(); // initialise motors
// setup radio
if (rc3.radio_min == 0) {
// cope with AP_Param not being loaded
rc3.radio_min = 1000;
}
if (rc3.radio_max == 0) {
// cope with AP_Param not being loaded
rc3.radio_max = 2000;
}
// set rc channel ranges
rc1.set_angle(4500);
rc2.set_angle(4500);
rc3.set_range(130, 1000);
rc4.set_angle(4500);
motors.enable();
motors.output_min();
hal.scheduler->delay(1000);
}
// loop
void loop()
{
int16_t value;
motor_order_test();
}
// stability_test
void motor_order_test()
{
motors.armed(true);
for (int8_t i=1; i <= 4; i++) {
hal.console->printf("Motor %d\n",(int)i);
int elapsed =0,stop;
int start = AP_HAL::micros(); //Time Test
motors.output_test(i, 1150);
stop = AP_HAL::micros();
elapsed = stop - start;
hal.console->printf(" Elapsed Time: %dus\n",elapsed);
hal.scheduler->delay(300);
motors.output_test(i, 1000);
hal.scheduler->delay(2000);
}
motors.armed(false);
hal.console->printf("\n\n");
}
AP_HAL_MAIN();

3
libraries/AP_Motors/examples/AP_Motors_Time_test/Makefile
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BOARD = mega
include ../../../../mk/apm.mk

25
libraries/AP_Motors/examples/AP_Motors_Time_test/make.inc
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LIBRARIES += AP_ADC
LIBRARIES += AP_AHRS
LIBRARIES += AP_Airspeed
LIBRARIES += AP_Baro
LIBRARIES += AP_BattMonitor
LIBRARIES += AP_Common
LIBRARIES += AP_Compass
LIBRARIES += AP_Declination
LIBRARIES += AP_GPS
LIBRARIES += AP_InertialSensor
LIBRARIES += AP_AccelCal
LIBRARIES += AP_Math
LIBRARIES += AP_Mission
LIBRARIES += AP_Motors
LIBRARIES += AP_NavEKF
LIBRARIES += AP_Notify
LIBRARIES += AP_Param
LIBRARIES += AP_RangeFinder
LIBRARIES += AP_Terrain
LIBRARIES += AP_Vehicle
LIBRARIES += DataFlash
LIBRARIES += Filter
LIBRARIES += GCS_MAVLink
LIBRARIES += RC_Channel
LIBRARIES += StorageManager

0
libraries/AP_Motors/examples/AP_Motors_Time_test/nobuild.txt
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10
libraries/AP_Motors/examples/AP_Motors_Time_test/wscript
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#!/usr/bin/env python
# encoding: utf-8
def build(bld):
# TODO: Test code doesn't build. Fix or delete the test.
return
bld.ap_example(
use='ap',
)