Mirror/ardupilot
5
0
Fork 0
mirror of https://github.com/ArduPilot/ardupilot synced 2025-01-03 14:38:30 -04:00
Code Issues Packages Projects Releases Wiki Activity

AP_Motors: Updated Motor example.

Browse Source
This commit is contained in:
Hiroshi Takey (hiro2233) 2017-12-24 16:41:22 -04:00 committed by Randy Mackay
parent 8a15c69aff
commit aa6f66f29b
2 changed files with 10 additions and 13 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

20
libraries/AP_Motors/examples/AP_Motors_test/AP_Motors_test.cpp
View File

@ -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();
}
}

3
libraries/AP_Motors/examples/AP_Motors_test/wscript
View File

@ -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',
)