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AP_Motors: example sketch output limit flags

This commit is contained in:
Randy Mackay 2016-02-18 19:26:01 +09:00
parent c9055ccdb1
commit bc1b8f415a
1 changed files with 11 additions and 7 deletions
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18
libraries/AP_Motors/examples/AP_Motors_test/AP_Motors_test.cpp
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@ -146,11 +146,11 @@ void stability_test()
motors.set_interlock(true);
#if NUM_OUTPUTS <= 4
hal.console->printf("Roll,Pitch,Yaw,Thr,Mot1,Mot2,Mot3,Mot4,AvgOut\n"); // quad
hal.console->printf("Roll,Pitch,Yaw,Thr,Mot1,Mot2,Mot3,Mot4,AvgOut,LimRP,LimY,LimThD,LimThU\n"); // quad
#elif NUM_OUTPUTS <= 6
hal.console->printf("Roll,Pitch,Yaw,Thr,Mot1,Mot2,Mot3,Mot4,Mot5,Mot6,AvgOut\n"); // hexa
hal.console->printf("Roll,Pitch,Yaw,Thr,Mot1,Mot2,Mot3,Mot4,Mot5,Mot6,AvgOut,LimRP,LimY,LimThD,LimThU\n"); // hexa
#else
hal.console->printf("Roll,Pitch,Yaw,Thr,Mot1,Mot2,Mot3,Mot4,Mot5,Mot6,Mot7,Mot8,AvgOut\n"); // octa
hal.console->printf("Roll,Pitch,Yaw,Thr,Mot1,Mot2,Mot3,Mot4,Mot5,Mot6,Mot7,Mot8,AvgOut,LimRP,LimY,LimThD,LimThU\n"); // octa
#endif
// run stability test
@ -174,11 +174,11 @@ void stability_test()
avg_out = ((hal.rcout->read(0) + hal.rcout->read(1) + hal.rcout->read(2) + hal.rcout->read(3))/4);
// display input and output
#if NUM_OUTPUTS <= 4
hal.console->printf("%d,%d,%d,%3.1f,%d,%d,%d,%d,%d\n", // quad
hal.console->printf("%d,%d,%d,%3.1f,%d,%d,%d,%d,%d,%d,%d,%d,%d\n", // quad
#elif NUM_OUTPUTS <= 6
hal.console->printf("%d,%d,%d,%3.1f,%d,%d,%d,%d,%d,%d,%d\n", // hexa
hal.console->printf("%d,%d,%d,%3.1f,%d,%d,%d,%d,%d,%d,%d,%d,%d,%d,%d\n", // hexa
#else
hal.console->printf("%d,%d,%d,%3.1f,%d,%d,%d,%d,%d,%d,%d,%d,%d\n", // octa
hal.console->printf("%d,%d,%d,%3.1f,%d,%d,%d,%d,%d,%d,%d,%d,%d,%d,%d,%d,%d\n", // octa
#endif
(int)roll_in,
(int)pitch_in,
@ -196,7 +196,11 @@ void stability_test()
(int)hal.rcout->read(6),
(int)hal.rcout->read(7),
#endif
(int)avg_out);
(int)avg_out,
(int)motors.limit.roll_pitch,
(int)motors.limit.yaw,
(int)motors.limit.throttle_lower,
(int)motors.limit.throttle_upper);
}
}
}