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AP_Motors: always check armed and interlocked in motor test

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This commit is contained in:
Iampete1 2022-01-27 15:37:06 +00:00 committed by Randy Mackay
parent 704f39a0cc
commit 5181003228
20 changed files with 57 additions and 87 deletions
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7
libraries/AP_Motors/AP_MotorsCoax.cpp
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@ -217,13 +217,8 @@ void AP_MotorsCoax::output_armed_stabilizing()
// output_test_seq - spin a motor at the pwm value specified
// motor_seq is the motor's sequence number from 1 to the number of motors on the frame
// pwm value is an actual pwm value that will be output, normally in the range of 1000 ~ 2000
void AP_MotorsCoax::output_test_seq(uint8_t motor_seq, int16_t pwm)
void AP_MotorsCoax::_output_test_seq(uint8_t motor_seq, int16_t pwm)
{
// exit immediately if not armed
if (!armed()) {
return;
}
// output to motors and servos
switch (motor_seq) {
case 1:

10
libraries/AP_Motors/AP_MotorsCoax.h
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@ -37,11 +37,6 @@ public:
// set update rate to motors - a value in hertz
void set_update_rate( uint16_t speed_hz ) override;
// output_test_seq - spin a motor at the pwm value specified
// motor_seq is the motor's sequence number from 1 to the number of motors on the frame
// pwm value is an actual pwm value that will be output, normally in the range of 1000 ~ 2000
virtual void output_test_seq(uint8_t motor_seq, int16_t pwm) override;
// output_to_motors - sends minimum values out to the motors
virtual void output_to_motors() override;
@ -58,4 +53,9 @@ protected:
float _thrust_yt_cw;
const char* _get_frame_string() const override { return "COAX"; }
// output_test_seq - spin a motor at the pwm value specified
// motor_seq is the motor's sequence number from 1 to the number of motors on the frame
// pwm value is an actual pwm value that will be output, normally in the range of 1000 ~ 2000
virtual void _output_test_seq(uint8_t motor_seq, int16_t pwm) override;
};

5
libraries/AP_Motors/AP_MotorsHeli.h
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@ -60,11 +60,6 @@ public:
// output_min - sets servos to neutral point with motors stopped
void output_min() override;
// output_test_seq - spin a motor at the pwm value specified
// motor_seq is the motor's sequence number from 1 to the number of motors on the frame
// pwm value is an actual pwm value that will be output, normally in the range of 1000 ~ 2000
virtual void output_test_seq(uint8_t motor_seq, int16_t pwm) override = 0;
//
// heli specific methods
//

7
libraries/AP_Motors/AP_MotorsHeli_Dual.cpp
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@ -275,13 +275,8 @@ bool AP_MotorsHeli_Dual::init_outputs()
// output_test_seq - spin a motor at the pwm value specified
// motor_seq is the motor's sequence number from 1 to the number of motors on the frame
// pwm value is an actual pwm value that will be output, normally in the range of 1000 ~ 2000
void AP_MotorsHeli_Dual::output_test_seq(uint8_t motor_seq, int16_t pwm)
void AP_MotorsHeli_Dual::_output_test_seq(uint8_t motor_seq, int16_t pwm)
{
// exit immediately if not armed
if (!armed()) {
return;
}
// output to motors and servos
switch (motor_seq) {
case 1:

2
libraries/AP_Motors/AP_MotorsHeli_Dual.h
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@ -48,7 +48,7 @@ public:
void set_update_rate( uint16_t speed_hz ) override;
// output_test_seq - spin a motor at the pwm value specified
virtual void output_test_seq(uint8_t motor_seq, int16_t pwm) override;
virtual void _output_test_seq(uint8_t motor_seq, int16_t pwm) override;
// output_to_motors - sends values out to the motors
void output_to_motors() override;

7
libraries/AP_Motors/AP_MotorsHeli_Quad.cpp
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@ -75,13 +75,8 @@ bool AP_MotorsHeli_Quad::init_outputs()
// output_test_seq - spin a motor at the pwm value specified
// motor_seq is the motor's sequence number from 1 to the number of motors on the frame
// pwm value is an actual pwm value that will be output, normally in the range of 1000 ~ 2000
void AP_MotorsHeli_Quad::output_test_seq(uint8_t motor_seq, int16_t pwm)
void AP_MotorsHeli_Quad::_output_test_seq(uint8_t motor_seq, int16_t pwm)
{
// exit immediately if not armed
if (!armed()) {
return;
}
// output to motors and servos
switch (motor_seq) {
case 1 ... AP_MOTORS_HELI_QUAD_NUM_MOTORS:

6
libraries/AP_Motors/AP_MotorsHeli_Quad.h
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@ -29,9 +29,6 @@ public:
// set_update_rate - set update rate to motors
void set_update_rate( uint16_t speed_hz ) override;
// output_test_seq - spin a motor at the pwm value specified
virtual void output_test_seq(uint8_t motor_seq, int16_t pwm) override;
// output_to_motors - sends values out to the motors
void output_to_motors() override;
@ -88,6 +85,9 @@ protected:
// move_actuators - moves swash plate to attitude of parameters passed in
void move_actuators(float roll_out, float pitch_out, float coll_in, float yaw_out) override;
// output_test_seq - spin a motor at the pwm value specified
virtual void _output_test_seq(uint8_t motor_seq, int16_t pwm) override;
const char* _get_frame_string() const override { return "HELI_QUAD"; }
// rate factors

7
libraries/AP_Motors/AP_MotorsHeli_Single.cpp
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@ -223,13 +223,8 @@ bool AP_MotorsHeli_Single::init_outputs()
// output_test_seq - spin a motor at the pwm value specified
// motor_seq is the motor's sequence number from 1 to the number of motors on the frame
// pwm value is an actual pwm value that will be output, normally in the range of 1000 ~ 2000
void AP_MotorsHeli_Single::output_test_seq(uint8_t motor_seq, int16_t pwm)
void AP_MotorsHeli_Single::_output_test_seq(uint8_t motor_seq, int16_t pwm)
{
// exit immediately if not armed
if (!armed()) {
return;
}
// output to motors and servos
switch (motor_seq) {
case 1:

10
libraries/AP_Motors/AP_MotorsHeli_Single.h
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@ -50,11 +50,6 @@ public:
// set update rate to motors - a value in hertz
void set_update_rate(uint16_t speed_hz) override;
// output_test_seq - spin a motor at the pwm value specified
// motor_seq is the motor's sequence number from 1 to the number of motors on the frame
// pwm value is an actual pwm value that will be output, normally in the range of 1000 ~ 2000
virtual void output_test_seq(uint8_t motor_seq, int16_t pwm) override;
// output_to_motors - sends values out to the motors
void output_to_motors() override;
@ -120,6 +115,11 @@ protected:
// servo_test - move servos through full range of movement
void servo_test() override;
// output_test_seq - spin a motor at the pwm value specified
// motor_seq is the motor's sequence number from 1 to the number of motors on the frame
// pwm value is an actual pwm value that will be output, normally in the range of 1000 ~ 2000
virtual void _output_test_seq(uint8_t motor_seq, int16_t pwm) override;
// external objects we depend upon
AP_MotorsHeli_RSC _tail_rotor; // tail rotor
AP_MotorsHeli_Swash _swashplate; // swashplate

7
libraries/AP_Motors/AP_MotorsMatrix.cpp
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@ -460,13 +460,8 @@ void AP_MotorsMatrix::check_for_failed_motor(float throttle_thrust_best_plus_adj
// output_test_seq - spin a motor at the pwm value specified
// motor_seq is the motor's sequence number from 1 to the number of motors on the frame
// pwm value is an actual pwm value that will be output, normally in the range of 1000 ~ 2000
void AP_MotorsMatrix::output_test_seq(uint8_t motor_seq, int16_t pwm)
void AP_MotorsMatrix::_output_test_seq(uint8_t motor_seq, int16_t pwm)
{
// exit immediately if not armed
if (!armed()) {
return;
}
// loop through all the possible orders spinning any motors that match that description
for (uint8_t i = 0; i < AP_MOTORS_MAX_NUM_MOTORS; i++) {
if (motor_enabled[i] && _test_order[i] == motor_seq) {

10
libraries/AP_Motors/AP_MotorsMatrix.h
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@ -48,11 +48,6 @@ public:
// you must have setup_motors before calling this
void set_update_rate(uint16_t speed_hz) override;
// output_test_seq - spin a motor at the pwm value specified
// motor_seq is the motor's sequence number from 1 to the number of motors on the frame
// pwm value is an actual pwm value that will be output, normally in the range of 1000 ~ 2000
virtual void output_test_seq(uint8_t motor_seq, int16_t pwm) override;
// output_test_num - spin a motor connected to the specified output channel
// (should only be performed during testing)
// If a motor output channel is remapped, the mapped channel is used.
@ -134,6 +129,11 @@ protected:
const char* _get_frame_string() const override { return _frame_class_string; }
const char* get_type_string() const override { return _frame_type_string; }
// output_test_seq - spin a motor at the pwm value specified
// motor_seq is the motor's sequence number from 1 to the number of motors on the frame
// pwm value is an actual pwm value that will be output, normally in the range of 1000 ~ 2000
virtual void _output_test_seq(uint8_t motor_seq, int16_t pwm) override;
float _roll_factor[AP_MOTORS_MAX_NUM_MOTORS]; // each motors contribution to roll
float _pitch_factor[AP_MOTORS_MAX_NUM_MOTORS]; // each motors contribution to pitch
float _yaw_factor[AP_MOTORS_MAX_NUM_MOTORS]; // each motors contribution to yaw (normally 1 or -1)

7
libraries/AP_Motors/AP_MotorsSingle.cpp
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@ -238,13 +238,8 @@ void AP_MotorsSingle::output_armed_stabilizing()
// output_test_seq - spin a motor at the pwm value specified
// motor_seq is the motor's sequence number from 1 to the number of motors on the frame
// pwm value is an actual pwm value that will be output, normally in the range of 1000 ~ 2000
void AP_MotorsSingle::output_test_seq(uint8_t motor_seq, int16_t pwm)
void AP_MotorsSingle::_output_test_seq(uint8_t motor_seq, int16_t pwm)
{
// exit immediately if not armed
if (!armed()) {
return;
}
// output to motors and servos
switch (motor_seq) {
case 1:

10
libraries/AP_Motors/AP_MotorsSingle.h
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@ -37,11 +37,6 @@ public:
// set update rate to motors - a value in hertz
void set_update_rate( uint16_t speed_hz ) override;
// output_test_seq - spin a motor at the pwm value specified
// motor_seq is the motor's sequence number from 1 to the number of motors on the frame
// pwm value is an actual pwm value that will be output, normally in the range of 1000 ~ 2000
virtual void output_test_seq(uint8_t motor_seq, int16_t pwm) override;
// output_to_motors - sends minimum values out to the motors
virtual void output_to_motors() override;
@ -55,6 +50,11 @@ protected:
const char* _get_frame_string() const override { return "SINGLE"; }
// output_test_seq - spin a motor at the pwm value specified
// motor_seq is the motor's sequence number from 1 to the number of motors on the frame
// pwm value is an actual pwm value that will be output, normally in the range of 1000 ~ 2000
virtual void _output_test_seq(uint8_t motor_seq, int16_t pwm) override;
int16_t _throttle_radio_output; // total throttle pwm value, summed onto throttle channel minimum, typically ~1100-1900
float _actuator_out[NUM_ACTUATORS]; // combined roll, pitch, yaw and throttle outputs to motors in 0~1 range
float _thrust_out;

7
libraries/AP_Motors/AP_MotorsTailsitter.cpp
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@ -216,13 +216,8 @@ void AP_MotorsTailsitter::output_armed_stabilizing()
// output_test_seq - spin a motor at the pwm value specified
// motor_seq is the motor's sequence number from 1 to the number of motors on the frame
// pwm value is an actual pwm value that will be output, normally in the range of 1000 ~ 2000
void AP_MotorsTailsitter::output_test_seq(uint8_t motor_seq, int16_t pwm)
void AP_MotorsTailsitter::_output_test_seq(uint8_t motor_seq, int16_t pwm)
{
// exit immediately if not armed
if (!armed()) {
return;
}
// output to motors and servos
switch (motor_seq) {
case 1:

6
libraries/AP_Motors/AP_MotorsTailsitter.h
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@ -23,9 +23,6 @@ public:
// set update rate to motors - a value in hertz
void set_update_rate( uint16_t speed_hz ) override;
// spin a motor at the pwm value specified
void output_test_seq(uint8_t motor_seq, int16_t pwm) override;
// output_to_motors - sends output to named servos
void output_to_motors() override;
@ -42,6 +39,9 @@ protected:
const char* _get_frame_string() const override { return "TAILSITTER"; }
// spin a motor at the pwm value specified
void _output_test_seq(uint8_t motor_seq, int16_t pwm) override;
// calculated outputs
float _throttle; // 0..1
float _tilt_left; // -1..1

7
libraries/AP_Motors/AP_MotorsTri.cpp
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@ -280,13 +280,8 @@ void AP_MotorsTri::output_armed_stabilizing()
// output_test_seq - spin a motor at the pwm value specified
// motor_seq is the motor's sequence number from 1 to the number of motors on the frame
// pwm value is an actual pwm value that will be output, normally in the range of 1000 ~ 2000
void AP_MotorsTri::output_test_seq(uint8_t motor_seq, int16_t pwm)
void AP_MotorsTri::_output_test_seq(uint8_t motor_seq, int16_t pwm)
{
// exit immediately if not armed
if (!armed()) {
return;
}
// output to motors and servos
switch (motor_seq) {
case 1:

10
libraries/AP_Motors/AP_MotorsTri.h
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@ -32,11 +32,6 @@ public:
// set update rate to motors - a value in hertz
void set_update_rate( uint16_t speed_hz ) override;
// output_test_seq - spin a motor at the pwm value specified
// motor_seq is the motor's sequence number from 1 to the number of motors on the frame
// pwm value is an actual pwm value that will be output, normally in the range of 1000 ~ 2000
virtual void output_test_seq(uint8_t motor_seq, int16_t pwm) override;
// output_to_motors - sends minimum values out to the motors
virtual void output_to_motors() override;
@ -63,6 +58,11 @@ protected:
const char* _get_frame_string() const override { return "TRI"; }
// output_test_seq - spin a motor at the pwm value specified
// motor_seq is the motor's sequence number from 1 to the number of motors on the frame
// pwm value is an actual pwm value that will be output, normally in the range of 1000 ~ 2000
virtual void _output_test_seq(uint8_t motor_seq, int16_t pwm) override;
// parameters
float _pivot_angle; // Angle of yaw pivot

10
libraries/AP_Motors/AP_Motors_Class.cpp
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@ -256,6 +256,16 @@ void AP_Motors::set_frame_string(const char * str) {
}
#endif
// output_test_seq - spin a motor at the pwm value specified
// motor_seq is the motor's sequence number from 1 to the number of motors on the frame
// pwm value is an actual pwm value that will be output, normally in the range of 1000 ~ 2000
void AP_Motors::output_test_seq(uint8_t motor_seq, int16_t pwm)
{
if (armed() && _interlock) {
_output_test_seq(motor_seq, pwm);
}
}
namespace AP {
AP_Motors *motors()
{

7
libraries/AP_Motors/AP_Motors_Class.h
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@ -218,7 +218,7 @@ public:
// output_test_seq - spin a motor at the pwm value specified
// motor_seq is the motor's sequence number from 1 to the number of motors on the frame
// pwm value is an actual pwm value that will be output, normally in the range of 1000 ~ 2000
virtual void output_test_seq(uint8_t motor_seq, int16_t pwm) = 0;
void output_test_seq(uint8_t motor_seq, int16_t pwm);
// get_motor_mask - returns a bitmask of which outputs are being used for motors (1 means being used)
// this can be used to ensure other pwm outputs (i.e. for servos) do not conflict
@ -346,6 +346,11 @@ protected:
// return string corresponding to frame_type
virtual const char* get_type_string() const { return ""; }
// output_test_seq - spin a motor at the pwm value specified
// motor_seq is the motor's sequence number from 1 to the number of motors on the frame
// pwm value is an actual pwm value that will be output, normally in the range of 1000 ~ 2000
virtual void _output_test_seq(uint8_t motor_seq, int16_t pwm) = 0;
#if AP_SCRIPTING_ENABLED
// Custom frame string set from scripting
char* custom_frame_string;

2
libraries/AP_Motors/examples/expo_inverse_test/expo_inverse_test.cpp
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@ -38,7 +38,7 @@ public:
// have to have these functions as they are pure virtual
void init(motor_frame_class frame_class, motor_frame_type frame_type) override {};
void set_frame_class_and_type(motor_frame_class frame_class, motor_frame_type frame_type) override {};
void output_test_seq(uint8_t motor_seq, int16_t pwm) override {};
void _output_test_seq(uint8_t motor_seq, int16_t pwm) override {};
const char* _get_frame_string() const override { return "TEST"; }
void output_armed_stabilizing() override {};
void output_to_motors() override {};