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Rover: add output tests for omni frames

This commit is contained in:
Ammarf 2018-08-08 11:38:04 +09:00 committed by Randy Mackay
parent cbde39c844
commit d665abccde
1 changed files with 40 additions and 24 deletions
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64
APMrover2/AP_MotorsUGV.cpp
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@ -345,31 +345,39 @@ bool AP_MotorsUGV::output_test_pct(motor_test_order motor_seq, float pct)
switch (motor_seq) {
case MOTOR_TEST_THROTTLE: {
if (!SRV_Channels::function_assigned(SRV_Channel::k_throttle)) {
return false;
if (SRV_Channels::function_assigned(SRV_Channel::k_motor1)) {
output_throttle(SRV_Channel::k_motor1, pct);
}
if (SRV_Channels::function_assigned(SRV_Channel::k_throttle)) {
output_throttle(SRV_Channel::k_throttle, pct);
}
output_throttle(SRV_Channel::k_throttle, pct);
break;
}
case MOTOR_TEST_STEERING: {
if (!SRV_Channels::function_assigned(SRV_Channel::k_steering)) {
return false;
if (SRV_Channels::function_assigned(SRV_Channel::k_motor2)) {
output_throttle(SRV_Channel::k_motor2, pct);
}
if (SRV_Channels::function_assigned(SRV_Channel::k_steering)) {
SRV_Channels::set_output_scaled(SRV_Channel::k_steering, pct * 45.0f);
}
SRV_Channels::set_output_scaled(SRV_Channel::k_steering, pct * 45.0f);
break;
}
case MOTOR_TEST_THROTTLE_LEFT: {
if (!SRV_Channels::function_assigned(SRV_Channel::k_throttleLeft)) {
return false;
if (SRV_Channels::function_assigned(SRV_Channel::k_motor3)) {
output_throttle(SRV_Channel::k_motor3, pct);
}
if (SRV_Channels::function_assigned(SRV_Channel::k_throttleLeft)) {
output_throttle(SRV_Channel::k_throttleLeft, pct);
}
output_throttle(SRV_Channel::k_throttleLeft, pct);
break;
}
case MOTOR_TEST_THROTTLE_RIGHT: {
if (!SRV_Channels::function_assigned(SRV_Channel::k_throttleRight)) {
return false;
if (SRV_Channels::function_assigned(SRV_Channel::k_motor4)) {
output_throttle(SRV_Channel::k_motor4, pct);
}
if (SRV_Channels::function_assigned(SRV_Channel::k_throttleRight)) {
output_throttle(SRV_Channel::k_throttleRight, pct);
}
output_throttle(SRV_Channel::k_throttleRight, pct);
break;
}
default:
@ -391,31 +399,39 @@ bool AP_MotorsUGV::output_test_pwm(motor_test_order motor_seq, float pwm)
}
switch (motor_seq) {
case MOTOR_TEST_THROTTLE: {
if (!SRV_Channels::function_assigned(SRV_Channel::k_throttle)) {
return false;
if (SRV_Channels::function_assigned(SRV_Channel::k_motor1)) {
SRV_Channels::set_output_pwm(SRV_Channel::k_motor1, pwm);
}
if (SRV_Channels::function_assigned(SRV_Channel::k_throttle)) {
SRV_Channels::set_output_pwm(SRV_Channel::k_throttle, pwm);
}
SRV_Channels::set_output_pwm(SRV_Channel::k_throttle, pwm);
break;
}
case MOTOR_TEST_STEERING: {
if (!SRV_Channels::function_assigned(SRV_Channel::k_steering)) {
return false;
if (SRV_Channels::function_assigned(SRV_Channel::k_motor2)) {
SRV_Channels::set_output_pwm(SRV_Channel::k_motor2, pwm);
}
if (SRV_Channels::function_assigned(SRV_Channel::k_steering)) {
SRV_Channels::set_output_pwm(SRV_Channel::k_steering, pwm);
}
SRV_Channels::set_output_pwm(SRV_Channel::k_steering, pwm);
break;
}
case MOTOR_TEST_THROTTLE_LEFT: {
if (!SRV_Channels::function_assigned(SRV_Channel::k_throttleLeft)) {
return false;
if (SRV_Channels::function_assigned(SRV_Channel::k_motor3)) {
SRV_Channels::set_output_pwm(SRV_Channel::k_motor3, pwm);
}
if (SRV_Channels::function_assigned(SRV_Channel::k_throttleLeft)) {
SRV_Channels::set_output_pwm(SRV_Channel::k_throttleLeft, pwm);
}
SRV_Channels::set_output_pwm(SRV_Channel::k_throttleLeft, pwm);
break;
}
case MOTOR_TEST_THROTTLE_RIGHT: {
if (!SRV_Channels::function_assigned(SRV_Channel::k_throttleRight)) {
return false;
if (SRV_Channels::function_assigned(SRV_Channel::k_motor4)) {
SRV_Channels::set_output_pwm(SRV_Channel::k_motor4, pwm);
}
if (SRV_Channels::function_assigned(SRV_Channel::k_throttleRight)) {
SRV_Channels::set_output_pwm(SRV_Channel::k_throttleRight, pwm);
}
SRV_Channels::set_output_pwm(SRV_Channel::k_throttleRight, pwm);
break;
}
default: