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Copter: motor test: check E-stop

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Iampete1 2022-02-09 01:00:43 +00:00 committed by Randy Mackay
parent 8af5f5b2d7
commit 95b8630a09
1 changed files with 7 additions and 2 deletions
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9
ArduCopter/motor_test.cpp
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@ -121,6 +121,12 @@ bool Copter::mavlink_motor_control_check(const GCS_MAVLINK &gcs_chan, bool check
return false; return false;
} }
// check E-Stop is not active
if (SRV_Channels::get_emergency_stop()) {
gcs_chan.send_text(MAV_SEVERITY_CRITICAL,"%s: Motor Emergency Stopped", mode);
return false;
}
// if we got this far the check was successful and the motor test can continue // if we got this far the check was successful and the motor test can continue
return true; return true;
} }
@ -135,8 +141,6 @@ MAV_RESULT Copter::mavlink_motor_test_start(const GCS_MAVLINK &gcs_chan, uint8_t
} }
// if test has not started try to start it // if test has not started try to start it
if (!ap.motor_test) { if (!ap.motor_test) {
gcs().send_text(MAV_SEVERITY_INFO, "starting motor test");
/* perform checks that it is ok to start test /* perform checks that it is ok to start test
The RC calibrated check can be skipped if direct pwm is The RC calibrated check can be skipped if direct pwm is
supplied supplied
@ -145,6 +149,7 @@ MAV_RESULT Copter::mavlink_motor_test_start(const GCS_MAVLINK &gcs_chan, uint8_t
return MAV_RESULT_FAILED; return MAV_RESULT_FAILED;
} else { } else {
// start test // start test
gcs().send_text(MAV_SEVERITY_INFO, "starting motor test");
ap.motor_test = true; ap.motor_test = true;
EXPECT_DELAY_MS(3000); EXPECT_DELAY_MS(3000);