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AP_MotorsUGV: fix motor test sequence 

motor test sequence starts from 1
This commit is contained in:
Randy Mackay 2017-07-17 16:41:10 +09:00
parent 8a86b64776
commit e5b746c7dd
2 changed files with 14 additions and 14 deletions
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20
APMrover2/AP_MotorsUGV.cpp
View File

@ -318,34 +318,34 @@ void AP_MotorsUGV::setup_safety_output()
bool AP_MotorsUGV::output_test_pct(motor_test_order motor_seq, float pct)
{
// check if the motor_seq is valid
if (motor_seq > THROTTLE_RIGHT) {
if (motor_seq > MOTOR_TEST_THROTTLE_RIGHT) {
return false;
}
pct = constrain_float(pct, -100.0f, 100.0f);
switch (motor_seq) {
case THROTTLE: {
case MOTOR_TEST_THROTTLE: {
if (!SRV_Channels::function_assigned(SRV_Channel::k_throttle)) {
return false;
}
output_throttle(SRV_Channel::k_throttle, pct);
break;
}
case STEERING: {
case MOTOR_TEST_STEERING: {
if (!SRV_Channels::function_assigned(SRV_Channel::k_steering)) {
return false;
}
SRV_Channels::set_output_scaled(SRV_Channel::k_steering, pct * 45.0f);
break;
}
case THROTTLE_LEFT: {
case MOTOR_TEST_THROTTLE_LEFT: {
if (!SRV_Channels::function_assigned(SRV_Channel::k_throttleLeft)) {
return false;
}
output_throttle(SRV_Channel::k_throttleLeft, pct);
break;
}
case THROTTLE_RIGHT: {
case MOTOR_TEST_THROTTLE_RIGHT: {
if (!SRV_Channels::function_assigned(SRV_Channel::k_throttleRight)) {
return false;
}
@ -366,32 +366,32 @@ bool AP_MotorsUGV::output_test_pct(motor_test_order motor_seq, float pct)
bool AP_MotorsUGV::output_test_pwm(motor_test_order motor_seq, float pwm)
{
// check if the motor_seq is valid
if (motor_seq > THROTTLE_RIGHT) {
if (motor_seq > MOTOR_TEST_THROTTLE_RIGHT) {
return false;
}
switch (motor_seq) {
case THROTTLE: {
case MOTOR_TEST_THROTTLE: {
if (!SRV_Channels::function_assigned(SRV_Channel::k_throttle)) {
return false;
}
SRV_Channels::set_output_pwm(SRV_Channel::k_throttle, pwm);
break;
}
case STEERING: {
case MOTOR_TEST_STEERING: {
if (!SRV_Channels::function_assigned(SRV_Channel::k_steering)) {
return false;
}
SRV_Channels::set_output_pwm(SRV_Channel::k_steering, pwm);
break;
}
case THROTTLE_LEFT: {
case MOTOR_TEST_THROTTLE_LEFT: {
if (!SRV_Channels::function_assigned(SRV_Channel::k_throttleLeft)) {
return false;
}
SRV_Channels::set_output_pwm(SRV_Channel::k_throttleLeft, pwm);
break;
}
case THROTTLE_RIGHT: {
case MOTOR_TEST_THROTTLE_RIGHT: {
if (!SRV_Channels::function_assigned(SRV_Channel::k_throttleRight)) {
return false;
}

8
APMrover2/AP_MotorsUGV.h
View File

@ -19,10 +19,10 @@ public:
};
enum motor_test_order {
THROTTLE = 0,
STEERING = 1,
THROTTLE_LEFT = 2,
THROTTLE_RIGHT = 3,
MOTOR_TEST_THROTTLE = 1,
MOTOR_TEST_STEERING = 2,
MOTOR_TEST_THROTTLE_LEFT = 3,
MOTOR_TEST_THROTTLE_RIGHT = 4,
};
// initialise motors