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Plane: allow testing of all motors in sequence

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this makes for an easier startup test for a quadplane, allowing a
single MAVLink command to test that all motors are working correctly
in the right sequence
This commit is contained in:
Andrew Tridgell 2016-04-01 11:09:51 +11:00
parent 72e4ed5665
commit f73c8ab8ed
3 changed files with 21 additions and 4 deletions
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3
ArduPlane/GCS_Mavlink.cpp
View File

@ -1544,7 +1544,8 @@ void GCS_MAVLINK::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) // 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) // param3 : throttle (range depends upon param2)
// param4 : timeout (in seconds) // param4 : timeout (in seconds)
result = plane.quadplane.mavlink_motor_test_start(chan, (uint8_t)packet.param1, (uint8_t)packet.param2, (uint16_t)packet.param3, packet.param4); // param5 : motor count (number of motors to test in sequence)
result = plane.quadplane.mavlink_motor_test_start(chan, (uint8_t)packet.param1, (uint8_t)packet.param2, (uint16_t)packet.param3, packet.param4, (uint8_t)packet.param5);
break; break;
case MAV_CMD_DO_VTOL_TRANSITION: case MAV_CMD_DO_VTOL_TRANSITION:

18
ArduPlane/motor_test.cpp
View File

@ -22,7 +22,20 @@ void QuadPlane::motor_test_output()
} }
// check for test timeout // check for test timeout
if ((AP_HAL::millis() - motor_test.start_ms) >= motor_test.timeout_ms) { uint32_t now = AP_HAL::millis();
if ((now - motor_test.start_ms) >= motor_test.timeout_ms) {
if (motor_test.motor_count > 1) {
if (now - motor_test.start_ms < motor_test.timeout_ms*1.5) {
// output zero for 0.5s
motors->output_min();
} else {
// move onto next motor
motor_test.seq++;
motor_test.motor_count--;
motor_test.start_ms = now;
}
return;
}
// stop motor test // stop motor test
motor_test_stop(); motor_test_stop();
return; return;
@ -64,7 +77,7 @@ void QuadPlane::motor_test_output()
// mavlink_motor_test_start - start motor test - spin a single motor at a specified pwm // 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 // returns MAV_RESULT_ACCEPTED on success, MAV_RESULT_FAILED on failure
uint8_t QuadPlane::mavlink_motor_test_start(mavlink_channel_t chan, uint8_t motor_seq, uint8_t throttle_type, uint8_t QuadPlane::mavlink_motor_test_start(mavlink_channel_t chan, uint8_t motor_seq, uint8_t throttle_type,
uint16_t throttle_value, float timeout_sec) uint16_t throttle_value, float timeout_sec, uint8_t motor_count)
{ {
if (motors->armed()) { if (motors->armed()) {
plane.gcs_send_text(MAV_SEVERITY_INFO, "Must be disarmed for motor test"); plane.gcs_send_text(MAV_SEVERITY_INFO, "Must be disarmed for motor test");
@ -90,6 +103,7 @@ uint8_t QuadPlane::mavlink_motor_test_start(mavlink_channel_t chan, uint8_t moto
motor_test.seq = motor_seq; motor_test.seq = motor_seq;
motor_test.throttle_type = throttle_type; motor_test.throttle_type = throttle_type;
motor_test.throttle_value = throttle_value; motor_test.throttle_value = throttle_value;
motor_test.motor_count = MIN(motor_count, 8);
// return success // return success
return MAV_RESULT_ACCEPTED; return MAV_RESULT_ACCEPTED;

4
ArduPlane/quadplane.h
View File

@ -224,12 +224,14 @@ private:
uint8_t seq = 0; // motor sequence number of motor being tested uint8_t seq = 0; // motor sequence number of motor being tested
uint8_t throttle_type = 0; // motor throttle type (0=throttle percentage, 1=PWM, 2=pilot throttle channel pass-through) uint8_t throttle_type = 0; // motor throttle type (0=throttle percentage, 1=PWM, 2=pilot throttle channel pass-through)
uint16_t throttle_value = 0; // throttle to be sent to motor, value depends upon it's type uint16_t throttle_value = 0; // throttle to be sent to motor, value depends upon it's type
uint8_t motor_count; // number of motors to cycle
} motor_test; } motor_test;
public: public:
void motor_test_output(); void motor_test_output();
uint8_t mavlink_motor_test_start(mavlink_channel_t chan, uint8_t motor_seq, uint8_t throttle_type, 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); uint16_t throttle_value, float timeout_sec,
uint8_t motor_count);
private: private:
void motor_test_stop(); void motor_test_stop();
}; };