Mirror/ardupilot
5
0
Fork 0
mirror of https://github.com/ArduPilot/ardupilot synced 2025-02-19 14:23:57 -04:00
Code Issues Packages Projects Releases Wiki Activity

AP_Motors: refactor output_test -> output_test_seq

Browse Source
This commit is contained in:
Jacob Walser 2018-04-27 12:22:07 -04:00
parent 9ce9f95692
commit abcb845af5
18 changed files with 35 additions and 35 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

4
libraries/AP_Motors/AP_MotorsCoax.cpp
View File

@ -210,10 +210,10 @@ void AP_MotorsCoax::output_armed_stabilizing()
_actuator_out[3] = -_actuator_out[1];
}
// output_test - spin a motor at the pwm value specified
// output_test_seq - spin a motor at the pwm value specified
// motor_seq is the motor's sequence number from 1 to the number of motors on the frame
// pwm value is an actual pwm value that will be output, normally in the range of 1000 ~ 2000
void AP_MotorsCoax::output_test(uint8_t motor_seq, int16_t pwm)
void AP_MotorsCoax::output_test_seq(uint8_t motor_seq, int16_t pwm)
{
// exit immediately if not armed
if (!armed()) {

4
libraries/AP_Motors/AP_MotorsCoax.h
View File

@ -37,10 +37,10 @@ public:
// set update rate to motors - a value in hertz
void set_update_rate( uint16_t speed_hz );
// output_test - spin a motor at the pwm value specified
// output_test_seq - spin a motor at the pwm value specified
// motor_seq is the motor's sequence number from 1 to the number of motors on the frame
// pwm value is an actual pwm value that will be output, normally in the range of 1000 ~ 2000
virtual void output_test(uint8_t motor_seq, int16_t pwm) override;
virtual void output_test_seq(uint8_t motor_seq, int16_t pwm) override;
// output_to_motors - sends minimum values out to the motors
virtual void output_to_motors();

4
libraries/AP_Motors/AP_MotorsHeli.h
View File

@ -74,10 +74,10 @@ public:
// output_min - sets servos to neutral point with motors stopped
void output_min();
// output_test - spin a motor at the pwm value specified
// output_test_seq - spin a motor at the pwm value specified
// motor_seq is the motor's sequence number from 1 to the number of motors on the frame
// pwm value is an actual pwm value that will be output, normally in the range of 1000 ~ 2000
virtual void output_test(uint8_t motor_seq, int16_t pwm) override = 0;
virtual void output_test_seq(uint8_t motor_seq, int16_t pwm) override = 0;
//
// heli specific methods

4
libraries/AP_Motors/AP_MotorsHeli_Dual.cpp
View File

@ -212,10 +212,10 @@ bool AP_MotorsHeli_Dual::init_outputs()
return true;
}
// output_test - spin a motor at the pwm value specified
// output_test_seq - spin a motor at the pwm value specified
// motor_seq is the motor's sequence number from 1 to the number of motors on the frame
// pwm value is an actual pwm value that will be output, normally in the range of 1000 ~ 2000
void AP_MotorsHeli_Dual::output_test(uint8_t motor_seq, int16_t pwm)
void AP_MotorsHeli_Dual::output_test_seq(uint8_t motor_seq, int16_t pwm)
{
// exit immediately if not armed
if (!armed()) {

4
libraries/AP_Motors/AP_MotorsHeli_Dual.h
View File

@ -58,8 +58,8 @@ public:
// set_update_rate - set update rate to motors
void set_update_rate( uint16_t speed_hz ) override;
// output_test - spin a motor at the pwm value specified
virtual void output_test(uint8_t motor_seq, int16_t pwm) override;
// output_test_seq - spin a motor at the pwm value specified
virtual void output_test_seq(uint8_t motor_seq, int16_t pwm) override;
// set_desired_rotor_speed - sets target rotor speed as a number from 0 ~ 1000
void set_desired_rotor_speed(float desired_speed) override;

4
libraries/AP_Motors/AP_MotorsHeli_Quad.cpp
View File

@ -65,10 +65,10 @@ bool AP_MotorsHeli_Quad::init_outputs()
return true;
}
// output_test - spin a motor at the pwm value specified
// output_test_seq - spin a motor at the pwm value specified
// motor_seq is the motor's sequence number from 1 to the number of motors on the frame
// pwm value is an actual pwm value that will be output, normally in the range of 1000 ~ 2000
void AP_MotorsHeli_Quad::output_test(uint8_t motor_seq, int16_t pwm)
void AP_MotorsHeli_Quad::output_test_seq(uint8_t motor_seq, int16_t pwm)
{
// exit immediately if not armed
if (!armed()) {

4
libraries/AP_Motors/AP_MotorsHeli_Quad.h
View File

@ -33,8 +33,8 @@ public:
// set_update_rate - set update rate to motors
void set_update_rate( uint16_t speed_hz ) override;
// output_test - spin a motor at the pwm value specified
virtual void output_test(uint8_t motor_seq, int16_t pwm) override;
// output_test_seq - spin a motor at the pwm value specified
virtual void output_test_seq(uint8_t motor_seq, int16_t pwm) override;
// set_desired_rotor_speed - sets target rotor speed as a number from 0 ~ 1000
void set_desired_rotor_speed(float desired_speed) override;

4
libraries/AP_Motors/AP_MotorsHeli_Single.cpp
View File

@ -180,10 +180,10 @@ bool AP_MotorsHeli_Single::init_outputs()
return true;
}
// output_test - spin a motor at the pwm value specified
// output_test_seq - spin a motor at the pwm value specified
// motor_seq is the motor's sequence number from 1 to the number of motors on the frame
// pwm value is an actual pwm value that will be output, normally in the range of 1000 ~ 2000
void AP_MotorsHeli_Single::output_test(uint8_t motor_seq, int16_t pwm)
void AP_MotorsHeli_Single::output_test_seq(uint8_t motor_seq, int16_t pwm)
{
// exit immediately if not armed
if (!armed()) {

4
libraries/AP_Motors/AP_MotorsHeli_Single.h
View File

@ -60,10 +60,10 @@ public:
// set update rate to motors - a value in hertz
void set_update_rate(uint16_t speed_hz) override;
// output_test - spin a motor at the pwm value specified
// output_test_seq - spin a motor at the pwm value specified
// motor_seq is the motor's sequence number from 1 to the number of motors on the frame
// pwm value is an actual pwm value that will be output, normally in the range of 1000 ~ 2000
virtual void output_test(uint8_t motor_seq, int16_t pwm) override;
virtual void output_test_seq(uint8_t motor_seq, int16_t pwm) override;
// set_desired_rotor_speed - sets target rotor speed as a number from 0 ~ 1
void set_desired_rotor_speed(float desired_speed) override;

4
libraries/AP_Motors/AP_MotorsMatrix.cpp
View File

@ -280,10 +280,10 @@ void AP_MotorsMatrix::output_armed_stabilizing()
}
}
// output_test - spin a motor at the pwm value specified
// output_test_seq - spin a motor at the pwm value specified
// motor_seq is the motor's sequence number from 1 to the number of motors on the frame
// pwm value is an actual pwm value that will be output, normally in the range of 1000 ~ 2000
void AP_MotorsMatrix::output_test(uint8_t motor_seq, int16_t pwm)
void AP_MotorsMatrix::output_test_seq(uint8_t motor_seq, int16_t pwm)
{
// exit immediately if not armed
if (!armed()) {

4
libraries/AP_Motors/AP_MotorsMatrix.h
View File

@ -29,10 +29,10 @@ public:
// you must have setup_motors before calling this
void set_update_rate(uint16_t speed_hz);
// output_test - spin a motor at the pwm value specified
// output_test_seq - spin a motor at the pwm value specified
// motor_seq is the motor's sequence number from 1 to the number of motors on the frame
// pwm value is an actual pwm value that will be output, normally in the range of 1000 ~ 2000
virtual void output_test(uint8_t motor_seq, int16_t pwm) override;
virtual void output_test_seq(uint8_t motor_seq, int16_t pwm) override;
// output_to_motors - sends minimum values out to the motors
void output_to_motors();

4
libraries/AP_Motors/AP_MotorsSingle.cpp
View File

@ -226,10 +226,10 @@ void AP_MotorsSingle::output_armed_stabilizing()
}
}
// output_test - spin a motor at the pwm value specified
// output_test_seq - spin a motor at the pwm value specified
// motor_seq is the motor's sequence number from 1 to the number of motors on the frame
// pwm value is an actual pwm value that will be output, normally in the range of 1000 ~ 2000
void AP_MotorsSingle::output_test(uint8_t motor_seq, int16_t pwm)
void AP_MotorsSingle::output_test_seq(uint8_t motor_seq, int16_t pwm)
{
// exit immediately if not armed
if (!armed()) {

4
libraries/AP_Motors/AP_MotorsSingle.h
View File

@ -37,10 +37,10 @@ public:
// set update rate to motors - a value in hertz
void set_update_rate( uint16_t speed_hz );
// output_test - spin a motor at the pwm value specified
// output_test_seq - spin a motor at the pwm value specified
// motor_seq is the motor's sequence number from 1 to the number of motors on the frame
// pwm value is an actual pwm value that will be output, normally in the range of 1000 ~ 2000
virtual void output_test(uint8_t motor_seq, int16_t pwm) override;
virtual void output_test_seq(uint8_t motor_seq, int16_t pwm) override;
// output_to_motors - sends minimum values out to the motors
virtual void output_to_motors();

2
libraries/AP_Motors/AP_MotorsTailsitter.h
View File

@ -21,7 +21,7 @@ public:
void set_frame_class_and_type(motor_frame_class frame_class, motor_frame_type frame_type) {}
void set_update_rate( uint16_t speed_hz ) {}
virtual void output_test(uint8_t motor_seq, int16_t pwm) override {}
virtual void output_test_seq(uint8_t motor_seq, int16_t pwm) override {}
// output_to_motors - sends output to named servos
void output_to_motors();

4
libraries/AP_Motors/AP_MotorsTri.cpp
View File

@ -241,10 +241,10 @@ void AP_MotorsTri::output_armed_stabilizing()
_thrust_rear = constrain_float(_thrust_rear, 0.0f, 1.0f);
}
// output_test - spin a motor at the pwm value specified
// output_test_seq - spin a motor at the pwm value specified
// motor_seq is the motor's sequence number from 1 to the number of motors on the frame
// pwm value is an actual pwm value that will be output, normally in the range of 1000 ~ 2000
void AP_MotorsTri::output_test(uint8_t motor_seq, int16_t pwm)
void AP_MotorsTri::output_test_seq(uint8_t motor_seq, int16_t pwm)
{
// exit immediately if not armed
if (!armed()) {

4
libraries/AP_Motors/AP_MotorsTri.h
View File

@ -32,10 +32,10 @@ public:
// set update rate to motors - a value in hertz
void set_update_rate( uint16_t speed_hz );
// output_test - spin a motor at the pwm value specified
// output_test_seq - spin a motor at the pwm value specified
// motor_seq is the motor's sequence number from 1 to the number of motors on the frame
// pwm value is an actual pwm value that will be output, normally in the range of 1000 ~ 2000
virtual void output_test(uint8_t motor_seq, int16_t pwm) override;
virtual void output_test_seq(uint8_t motor_seq, int16_t pwm) override;
// output_to_motors - sends minimum values out to the motors
virtual void output_to_motors();

4
libraries/AP_Motors/AP_Motors_Class.h
View File

@ -136,10 +136,10 @@ public:
// output_min - sends minimum values out to the motors
virtual void output_min() = 0;
// output_test - spin a motor at the pwm value specified
// output_test_seq - spin a motor at the pwm value specified
// motor_seq is the motor's sequence number from 1 to the number of motors on the frame
// pwm value is an actual pwm value that will be output, normally in the range of 1000 ~ 2000
virtual void output_test(uint8_t motor_seq, int16_t pwm) = 0;
virtual void output_test_seq(uint8_t motor_seq, int16_t pwm) = 0;
// get_motor_mask - returns a bitmask of which outputs are being used for motors (1 means being used)
// this can be used to ensure other pwm outputs (i.e. for servos) do not conflict

4
libraries/AP_Motors/examples/AP_Motors_test/AP_Motors_test.cpp
View File

@ -112,9 +112,9 @@ void motor_order_test()
motors.armed(true);
for (int8_t i=1; i <= AP_MOTORS_MAX_NUM_MOTORS; i++) {
hal.console->printf("Motor %d\n",(int)i);
motors.output_test(i, 1150);
motors.output_test_seq(i, 1150);
hal.scheduler->delay(300);
motors.output_test(i, 1000);
motors.output_test_seq(i, 1000);
hal.scheduler->delay(2000);
}
motors.armed(false);