From aa6f66f29b33b30c30101725eff8a1d7b6cfdd8c Mon Sep 17 00:00:00 2001
From: "Hiroshi Takey (hiro2233)" <htakey@gmail.com>
Date: Sun, 24 Dec 2017 16:41:22 -0400
Subject: [PATCH] AP_Motors: Updated Motor example.

---
 .../AP_Motors_test/AP_Motors_test.cpp         | 20 +++++++++----------
 .../AP_Motors/examples/AP_Motors_test/wscript |  3 ---
 2 files changed, 10 insertions(+), 13 deletions(-)

diff --git a/libraries/AP_Motors/examples/AP_Motors_test/AP_Motors_test.cpp b/libraries/AP_Motors/examples/AP_Motors_test/AP_Motors_test.cpp
index 1a9a7c0af9..1d495a5e17 100644
--- a/libraries/AP_Motors/examples/AP_Motors_test/AP_Motors_test.cpp
+++ b/libraries/AP_Motors/examples/AP_Motors_test/AP_Motors_test.cpp
@@ -29,6 +29,7 @@
 #include <AP_BattMonitor/AP_BattMonitor.h>
 #include <AP_RangeFinder/AP_RangeFinder.h>
 #include <AP_Scheduler/AP_Scheduler.h>
+#include <RC_Channel/RC_Channel.h>
 #include <SRV_Channel/SRV_Channel.h>
 
 const AP_HAL::HAL& hal = AP_HAL::get_HAL();
@@ -43,8 +44,7 @@ void update_motors();
 #define HELI_TEST       0   // set to 1 to test helicopters
 #define NUM_OUTPUTS     4   // set to 6 for hexacopter, 8 for octacopter and heli
 
-RC_Channel rc1(0), rc2(1), rc3(2), rc4(3);
-RC_Channel rc7(6), rsc(8), h1(0), h2(1), h3(2), h4(3);
+SRV_Channels srvs;
 
 // uncomment the row below depending upon what frame you are using
 //AP_MotorsTri	motors(400);
@@ -68,14 +68,14 @@ void setup()
     motors.output_min();
 
     // setup radio
-	rc3.set_radio_min(1000);
-    rc3.set_radio_max(2000);
+    SRV_Channels::srv_channel(2)->set_output_min(1000);
+    SRV_Channels::srv_channel(2)->set_output_max(2000);
 
     // set rc channel ranges
-    rc1.set_angle(4500);
-    rc2.set_angle(4500);
-    rc3.set_range(1000);
-    rc4.set_angle(4500);
+    SRV_Channels::srv_channel(0)->set_angle(4500);
+    SRV_Channels::srv_channel(1)->set_angle(4500);
+    SRV_Channels::srv_channel(2)->set_range(1000);
+    SRV_Channels::srv_channel(3)->set_angle(4500);
 
     hal.scheduler->delay(1000);
 }
@@ -133,7 +133,7 @@ void stability_test()
     int16_t rpy_tests[] = {0, 1000, 2000, 3000, 4500, -1000, -2000, -3000, -4500};
     uint8_t rpy_tests_num = sizeof(rpy_tests) / sizeof(int16_t);
 
-    hal.console->printf("\nTesting stability patch\nThrottle Min:%d Max:%d\n",(int)rc3.get_radio_min(),(int)rc3.get_radio_max());
+    hal.console->printf("\nTesting stability patch\nThrottle Min:%d Max:%d\n",(int)SRV_Channels::srv_channel(2)->get_output_min(),(int)SRV_Channels::srv_channel(2)->get_output_max());
 
     // arm motors
     motors.armed(true);
@@ -211,7 +211,7 @@ void stability_test()
 void update_motors()
 {
     // call update motors 1000 times to get any ramp limiting complete
-    for (uint16_t i=0; i<4000; i++) {
+    for (uint16_t i=0; i<1000; i++) {
         motors.output();
     }
 }
diff --git a/libraries/AP_Motors/examples/AP_Motors_test/wscript b/libraries/AP_Motors/examples/AP_Motors_test/wscript
index cce0a8aab5..719ec151ba 100644
--- a/libraries/AP_Motors/examples/AP_Motors_test/wscript
+++ b/libraries/AP_Motors/examples/AP_Motors_test/wscript
@@ -2,9 +2,6 @@
 # encoding: utf-8
 
 def build(bld):
-    # TODO: Test code doesn't build. Fix or delete the test.
-    return
-
     bld.ap_example(
         use='ap',
     )