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Copter: allow motor test using raw pwm without RC cal

This commit is contained in:
Andrew Tridgell 2015-03-12 16:19:25 +11:00
parent 2e6d79f449
commit d9342ed854
1 changed files with 7 additions and 4 deletions
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11
ArduCopter/motor_test.pde
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@ -67,11 +67,11 @@ static void motor_test_output()
// mavlink_motor_test_check - perform checks before motor tests can begin
// return true if tests can continue, false if not
static bool mavlink_motor_test_check(mavlink_channel_t chan)
static bool mavlink_motor_test_check(mavlink_channel_t chan, bool check_rc)
{
// check rc has been calibrated
pre_arm_rc_checks();
if(!ap.pre_arm_rc_check) {
if(check_rc && !ap.pre_arm_rc_check) {
gcs[chan-MAVLINK_COMM_0].send_text_P(SEVERITY_HIGH,PSTR("Motor Test: RC not calibrated"));
return false;
}
@ -98,8 +98,11 @@ static uint8_t mavlink_motor_test_start(mavlink_channel_t chan, uint8_t motor_se
{
// if test has not started try to start it
if (!ap.motor_test) {
// perform checks that it is ok to start test
if (!mavlink_motor_test_check(chan)) {
/* 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