mirror of https://github.com/ArduPilot/ardupilot
68 lines
2.1 KiB
Lua
68 lines
2.1 KiB
Lua
-- This is a script that stops motors in flight, for use testing motor failure handling
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-- add new param MOT_STOP_BITMASK
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local PARAM_TABLE_KEY = 75
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assert(param:add_table(PARAM_TABLE_KEY, "MOT_", 1), "could not add param table")
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assert(param:add_param(PARAM_TABLE_KEY, 1, "STOP_BITMASK", 0), "could not add param")
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local stop_motor_bitmask = Parameter()
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assert(stop_motor_bitmask:init("MOT_STOP_BITMASK"), "could not find param")
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-- find rc switch with option 300
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local switch = assert(rc:find_channel_for_option(300),"Lua: Could not find switch")
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-- read spin min param, we set motors to this PWM to stop them
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local pwm_min
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if quadplane then
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pwm_min = assert(param:get("Q_M_PWM_MIN"),"Lua: Could not read Q_M_PWM_MIN")
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else
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pwm_min = assert(param:get("MOT_PWM_MIN"),"Lua: Could not read MOT_PWM_MIN")
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end
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local stop_motor_chan
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local last_motor_bitmask
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-- find any motors enabled, populate channels numbers to stop
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local function update_stop_motors(new_bitmask)
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if last_motor_bitmask == new_bitmask then
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return
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end
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stop_motor_chan = {}
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for i = 1, 12 do
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if ((1 << (i-1)) & new_bitmask) ~= 0 then
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-- convert motor number to output function number
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local output_function
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if i <= 8 then
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output_function = i+32
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else
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output_function = i+81-8
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end
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-- get channel number for output function
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local temp_chan = SRV_Channels:find_channel(output_function)
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if temp_chan then
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table.insert(stop_motor_chan, temp_chan)
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end
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end
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end
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last_motor_bitmask = new_bitmask
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end
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function update()
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update_stop_motors(stop_motor_bitmask:get())
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if switch:get_aux_switch_pos() == 2 then
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for i = 1, #stop_motor_chan do
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-- override for 15ms, called every 10ms
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-- using timeout means if the script dies the timeout will expire and all motors will come back
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-- we cant leave the vehicle in a un-flyable state
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SRV_Channels:set_output_pwm_chan_timeout(stop_motor_chan[i],pwm_min,15)
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end
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end
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return update, 10 -- reschedule at 100hz
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end
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return update() -- run immediately before starting to reschedule
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