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AP_MotorsUGV: add mainsail to servo test

This commit is contained in:
Randy Mackay 2018-09-16 12:15:26 +09:00
parent fa0fc5eade
commit a59b83af9a
2 changed files with 13 additions and 0 deletions
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12
APMrover2/AP_MotorsUGV.cpp
View File

@ -398,6 +398,12 @@ bool AP_MotorsUGV::output_test_pct(motor_test_order motor_seq, float pct)
} }
break; break;
} }
case MOTOR_TEST_MAINSAIL: {
if (SRV_Channels::function_assigned(SRV_Channel::k_mainsail_sheet)) {
SRV_Channels::set_output_scaled(SRV_Channel::k_mainsail_sheet, pct);
}
break;
}
default: default:
return false; return false;
} }
@ -452,6 +458,12 @@ bool AP_MotorsUGV::output_test_pwm(motor_test_order motor_seq, float pwm)
} }
break; break;
} }
case MOTOR_TEST_MAINSAIL: {
if (SRV_Channels::function_assigned(SRV_Channel::k_mainsail_sheet)) {
SRV_Channels::set_output_pwm(SRV_Channel::k_mainsail_sheet, pwm);
}
break;
}
default: default:
return false; return false;
} }

1
APMrover2/AP_MotorsUGV.h
View File

@ -23,6 +23,7 @@ public:
MOTOR_TEST_STEERING = 2, MOTOR_TEST_STEERING = 2,
MOTOR_TEST_THROTTLE_LEFT = 3, MOTOR_TEST_THROTTLE_LEFT = 3,
MOTOR_TEST_THROTTLE_RIGHT = 4, MOTOR_TEST_THROTTLE_RIGHT = 4,
MOTOR_TEST_MAINSAIL = 5
}; };
// supported custom motor configurations // supported custom motor configurations