Mirror
/
ardupilot
mirror of https://github.com/ArduPilot/ardupilot
5
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity

Copter: motor test can spin motor for 10min 

A user requested they be able to perform longer term tests of their vehicle's motors
This commit is contained in:
Randy Mackay 2018-07-17 13:53:59 +09:00
parent ed9fed75d3
commit d616e28100
1 changed files with 2 additions and 2 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

4
ArduCopter/motor_test.cpp
View File

@ -8,7 +8,7 @@
// motor test definitions
#define MOTOR_TEST_PWM_MIN 800 // min pwm value accepted by the test
#define MOTOR_TEST_PWM_MAX 2200 // max pwm value accepted by the test
#define MOTOR_TEST_TIMEOUT_MS_MAX 30000 // max timeout is 30 seconds
#define MOTOR_TEST_TIMEOUT_SEC 600 // max timeout is 10 minutes (600 seconds)
static uint32_t motor_test_start_ms; // system time the motor test began
static uint32_t motor_test_timeout_ms; // test will timeout this many milliseconds after the motor_test_start_ms
@ -165,7 +165,7 @@ MAV_RESULT Copter::mavlink_motor_test_start(mavlink_channel_t chan, uint8_t moto
// set timeout
motor_test_start_ms = AP_HAL::millis();
motor_test_timeout_ms = MIN(timeout_sec * 1000, MOTOR_TEST_TIMEOUT_MS_MAX);
motor_test_timeout_ms = MIN(timeout_sec, MOTOR_TEST_TIMEOUT_SEC) * 1000;
// store required output
motor_test_seq = motor_seq;