Mirror/ardupilot
5
0
Fork 0
mirror of https://github.com/ArduPilot/ardupilot synced 2025-02-21 23:33:57 -04:00
Code Issues Packages Projects Releases Wiki Activity

Sub: Remove old/unused motor test code and motor_test.cpp

Browse Source
This commit is contained in:
Jacob Walser 2017-04-05 14:01:32 -04:00
parent 82cebe47dc
commit d794bf88cb
4 changed files with 1 additions and 159 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

1
ArduSub/GCS_Mavlink.cpp
View File

@ -1458,7 +1458,6 @@ void GCS_MAVLINK_Sub::handleMessage(mavlink_message_t* msg)
// param2 : throttle type (0=throttle percentage, 1=PWM, 2=pilot throttle channel pass-through. See MOTOR_TEST_THROTTLE_TYPE enum)
// param3 : throttle (range depends upon param2)
// param4 : timeout (in seconds)
result = sub.mavlink_motor_test_start(chan, (uint8_t)packet.param1, (uint8_t)packet.param2, (uint16_t)packet.param3, packet.param4);
break;
#if GRIPPER_ENABLED == ENABLED

4
ArduSub/Sub.h
View File

@ -650,10 +650,6 @@ private:
void set_surfaced(bool at_surface);
void set_bottomed(bool at_bottom);
void update_notify();
void motor_test_output();
bool mavlink_motor_test_check(mavlink_channel_t chan, bool check_rc);
uint8_t mavlink_motor_test_start(mavlink_channel_t chan, uint8_t motor_seq, uint8_t throttle_type, uint16_t throttle_value, float timeout_sec);
void motor_test_stop();
bool init_arm_motors(bool arming_from_gcs);
void init_disarm_motors();
void motors_output();

153
ArduSub/motor_test.cpp
View File

@ -1,153 +0,0 @@
#include "Sub.h"
/*
mavlink motor test - implements the MAV_CMD_DO_MOTOR_TEST mavlink command so that the GCS/pilot can test an individual motor or flaps
to ensure proper wiring, rotation.
*/
// 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
static uint32_t motor_test_start_ms = 0; // system time the motor test began
static uint32_t motor_test_timeout_ms = 0; // test will timeout this many milliseconds after the motor_test_start_ms
static uint8_t motor_test_seq = 0; // motor sequence number of motor being tested
static uint8_t motor_test_throttle_type = 0; // motor throttle type (0=throttle percentage, 1=PWM, 2=pilot throttle channel pass-through)
static uint16_t motor_test_throttle_value = 0; // throttle to be sent to motor, value depends upon it's type
// motor_test_output - checks for timeout and sends updates to motors objects
void Sub::motor_test_output()
{
// exit immediately if the motor test is not running
if (!ap.motor_test) {
return;
}
// check for test timeout
if ((AP_HAL::millis() - motor_test_start_ms) >= motor_test_timeout_ms) {
// stop motor test
motor_test_stop();
} else {
int16_t pwm = 0; // pwm that will be output to the motors
// calculate pwm based on throttle type
switch (motor_test_throttle_type) {
case MOTOR_TEST_THROTTLE_PERCENT:
// sanity check motor_test_throttle value
break;
case MOTOR_TEST_THROTTLE_PWM:
pwm = motor_test_throttle_value;
break;
case MOTOR_TEST_THROTTLE_PILOT:
pwm = channel_throttle->get_radio_in();
break;
default:
motor_test_stop();
return;
break;
}
// sanity check throttle values
if (pwm >= MOTOR_TEST_PWM_MIN && pwm <= MOTOR_TEST_PWM_MAX) {
// turn on motor to specified pwm vlaue
motors.output_test(motor_test_seq, pwm);
} else {
motor_test_stop();
}
}
}
// mavlink_motor_test_check - perform checks before motor tests can begin
// return true if tests can continue, false if not
bool Sub::mavlink_motor_test_check(mavlink_channel_t chan, bool check_rc)
{
// check rc has been calibrated
if (check_rc && !arming.rc_check()) {
return false;
}
// check if safety switch has been pushed
if (hal.util->safety_switch_state() == AP_HAL::Util::SAFETY_DISARMED) {
gcs_chan[chan-MAVLINK_COMM_0].send_text(MAV_SEVERITY_CRITICAL,"Motor Test: Safety switch");
return false;
}
// if we got this far the check was successful and the motor test can continue
return true;
}
// mavlink_motor_test_start - start motor test - spin a single motor at a specified pwm
// returns MAV_RESULT_ACCEPTED on success, MAV_RESULT_FAILED on failure
uint8_t Sub::mavlink_motor_test_start(mavlink_channel_t chan, uint8_t motor_seq, uint8_t throttle_type, uint16_t throttle_value, float timeout_sec)
{
// if test has not started try to start it
if (!ap.motor_test) {
/* perform checks that it is ok to start test
The RC calibrated check can be skipped if direct pwm is
supplied
*/
if (!mavlink_motor_test_check(chan, throttle_type != 1)) {
return MAV_RESULT_FAILED;
} else {
// start test
ap.motor_test = true;
// enable and arm motors
if (!motors.armed()) {
init_rc_out();
enable_motor_output();
motors.armed(true);
}
// disable throttle, battery and gps failsafe
g.failsafe_battery_enabled = FS_BATT_DISABLED;
g.failsafe_gcs = FS_GCS_DISABLED;
// turn on notify leds
AP_Notify::flags.esc_calibration = true;
}
}
// set timeout
motor_test_start_ms = AP_HAL::millis();
motor_test_timeout_ms = MIN(timeout_sec * 1000, MOTOR_TEST_TIMEOUT_MS_MAX);
// store required output
motor_test_seq = motor_seq;
motor_test_throttle_type = throttle_type;
motor_test_throttle_value = throttle_value;
// return success
return MAV_RESULT_ACCEPTED;
}
// motor_test_stop - stops the motor test
void Sub::motor_test_stop()
{
// exit immediately if the test is not running
if (!ap.motor_test) {
return;
}
// flag test is complete
ap.motor_test = false;
// disarm motors
motors.armed(false);
// reset timeout
motor_test_start_ms = 0;
motor_test_timeout_ms = 0;
// re-enable failsafes
g.failsafe_battery_enabled.load();
g.failsafe_gcs.load();
// turn off notify leds
AP_Notify::flags.esc_calibration = false;
}

2
ArduSub/motors.cpp
View File

@ -122,7 +122,7 @@ void Sub::motors_output()
{
// check if we are performing the motor test
if (ap.motor_test) {
motor_test_output();
return; // Placeholder
} else {
if (!ap.using_interlock) {
// if not using interlock switch, set according to Emergency Stop status