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test: added new passthru test

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this passes radio inputs direct to servo outputs, which is useful for
hardware testing
This commit is contained in:
Pat Hickey 2011-11-13 15:12:14 +11:00
parent bad177bfdc
commit f9d6facdda
1 changed files with 29 additions and 0 deletions
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29
ArduPlane/test.pde
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@ -6,6 +6,7 @@
// are defined below. Order matters to the compiler.
static int8_t test_radio_pwm(uint8_t argc, const Menu::arg *argv);
static int8_t test_radio(uint8_t argc, const Menu::arg *argv);
static int8_t test_passthru(uint8_t argc, const Menu::arg *argv);
static int8_t test_failsafe(uint8_t argc, const Menu::arg *argv);
static int8_t test_gps(uint8_t argc, const Menu::arg *argv);
static int8_t test_adc(uint8_t argc, const Menu::arg *argv);
@ -31,6 +32,7 @@ static int8_t test_dipswitches(uint8_t argc, const Menu::arg *argv);
static const struct Menu::command test_menu_commands[] PROGMEM = {
{"pwm", test_radio_pwm},
{"radio", test_radio},
{"passthru", test_passthru},
{"failsafe", test_failsafe},
{"battery", test_battery},
{"relay", test_relay},
@ -123,6 +125,33 @@ test_radio_pwm(uint8_t argc, const Menu::arg *argv)
}
}
static int8_t
test_passthru(uint8_t argc, const Menu::arg *argv)
{
print_hit_enter();
delay(1000);
while(1){
delay(20);
// New radio frame? (we could use also if((millis()- timer) > 20)
if (APM_RC.GetState() == 1){
Serial.print("CH:");
for(int i = 0; i < 8; i++){
Serial.print(APM_RC.InputCh(i)); // Print channel values
Serial.print(",");
APM_RC.OutputCh(i, APM_RC.InputCh(i)); // Copy input to Servos
}
Serial.println();
}
if (Serial.available() > 0){
return (0);
}
}
return 0;
}
static int8_t
test_radio(uint8_t argc, const Menu::arg *argv)
{