AP_Motors: remove unused example sketch to test timing
This test was only important on the slower AVR boards
This commit is contained in:
Randy Mackay
parent
a3450b712c
commit
a42706bdcc
@ -1,111 +0,0 @@
|
|||||||
/*
|
|
||||||
* Example of AP_Motors library.
|
|
||||||
* Code by Randy Mackay. DIYDrones.com
|
|
||||||
*/
|
|
||||||
|
|
||||||
// Libraries
|
|
||||||
#include <AP_Common/AP_Common.h>
|
|
||||||
#include <AP_Param/AP_Param.h>
|
|
||||||
#include <AP_HAL/AP_HAL.h>
|
|
||||||
#include <AP_Math/AP_Math.h> // ArduPilot Mega Vector/Matrix math Library
|
|
||||||
#include <RC_Channel/RC_Channel.h> // RC Channel Library
|
|
||||||
#include <AP_Motors/AP_Motors.h>
|
|
||||||
#include <AP_Notify/AP_Notify.h>
|
|
||||||
#include <AP_GPS/AP_GPS.h>
|
|
||||||
#include <DataFlash/DataFlash.h>
|
|
||||||
#include <AP_InertialSensor/AP_InertialSensor.h>
|
|
||||||
#include <AP_ADC/AP_ADC.h>
|
|
||||||
#include <GCS_MAVLink/GCS_MAVLink.h>
|
|
||||||
#include <AP_Baro/AP_Baro.h>
|
|
||||||
#include <Filter/Filter.h>
|
|
||||||
#include <AP_AHRS/AP_AHRS.h>
|
|
||||||
#include <AP_Compass/AP_Compass.h>
|
|
||||||
#include <AP_Declination/AP_Declination.h>
|
|
||||||
#include <AP_Airspeed/AP_Airspeed.h>
|
|
||||||
#include <AP_Vehicle/AP_Vehicle.h>
|
|
||||||
#include <AP_Mission/AP_Mission.h>
|
|
||||||
#include <StorageManager/StorageManager.h>
|
|
||||||
#include <AP_Terrain/AP_Terrain.h>
|
|
||||||
#include <AP_NavEKF/AP_NavEKF.h>
|
|
||||||
#include <AP_BattMonitor/AP_BattMonitor.h>
|
|
||||||
#include <AP_RangeFinder/AP_RangeFinder.h>
|
|
||||||
|
|
||||||
const AP_HAL::HAL& hal = AP_HAL::get_HAL();
|
|
||||||
|
|
||||||
RC_Channel rc1(0), rc2(1), rc3(2), rc4(3);
|
|
||||||
|
|
||||||
// uncomment the row below depending upon what frame you are using
|
|
||||||
//AP_MotorsTri motors(rc1, rc2, rc3, rc4, 400);
|
|
||||||
AP_MotorsQuad motors(rc1, rc2, rc3, rc4, 400);
|
|
||||||
//AP_MotorsHexa motors(rc1, rc2, rc3, rc4, 400);
|
|
||||||
//AP_MotorsY6 motors(rc1, rc2, rc3, rc4, 400);
|
|
||||||
//AP_MotorsOcta motors(rc1, rc2, rc3, rc4, 400);
|
|
||||||
//AP_MotorsOctaQuad motors(rc1, rc2, rc3, rc4, 400);
|
|
||||||
//AP_MotorsHeli motors(rc1, rc2, rc3, rc4, 400);
|
|
||||||
|
|
||||||
|
|
||||||
// setup
|
|
||||||
void setup()
|
|
||||||
{
|
|
||||||
hal.console->println("AP_Motors_Time test");
|
|
||||||
|
|
||||||
// motor initialisation
|
|
||||||
motors.set_update_rate(490);
|
|
||||||
// motors.set_frame_orientation(AP_MOTORS_X_FRAME);
|
|
||||||
motors.set_frame_orientation(AP_MOTORS_PLUS_FRAME);
|
|
||||||
motors.set_min_throttle(130);
|
|
||||||
motors.set_hover_throttle(500);
|
|
||||||
motors.Init(); // initialise motors
|
|
||||||
|
|
||||||
// setup radio
|
|
||||||
if (rc3.radio_min == 0) {
|
|
||||||
// cope with AP_Param not being loaded
|
|
||||||
rc3.radio_min = 1000;
|
|
||||||
}
|
|
||||||
if (rc3.radio_max == 0) {
|
|
||||||
// cope with AP_Param not being loaded
|
|
||||||
rc3.radio_max = 2000;
|
|
||||||
}
|
|
||||||
// set rc channel ranges
|
|
||||||
rc1.set_angle(4500);
|
|
||||||
rc2.set_angle(4500);
|
|
||||||
rc3.set_range(130, 1000);
|
|
||||||
rc4.set_angle(4500);
|
|
||||||
|
|
||||||
motors.enable();
|
|
||||||
motors.output_min();
|
|
||||||
|
|
||||||
hal.scheduler->delay(1000);
|
|
||||||
}
|
|
||||||
|
|
||||||
// loop
|
|
||||||
void loop()
|
|
||||||
{
|
|
||||||
int16_t value;
|
|
||||||
|
|
||||||
motor_order_test();
|
|
||||||
}
|
|
||||||
|
|
||||||
// stability_test
|
|
||||||
void motor_order_test()
|
|
||||||
{
|
|
||||||
|
|
||||||
motors.armed(true);
|
|
||||||
for (int8_t i=1; i <= 4; i++) {
|
|
||||||
hal.console->printf("Motor %d\n",(int)i);
|
|
||||||
int elapsed =0,stop;
|
|
||||||
int start = AP_HAL::micros(); //Time Test
|
|
||||||
motors.output_test(i, 1150);
|
|
||||||
stop = AP_HAL::micros();
|
|
||||||
elapsed = stop - start;
|
|
||||||
hal.console->printf(" Elapsed Time: %dus\n",elapsed);
|
|
||||||
hal.scheduler->delay(300);
|
|
||||||
motors.output_test(i, 1000);
|
|
||||||
hal.scheduler->delay(2000);
|
|
||||||
}
|
|
||||||
motors.armed(false);
|
|
||||||
|
|
||||||
hal.console->printf("\n\n");
|
|
||||||
}
|
|
||||||
|
|
||||||
AP_HAL_MAIN();
|
|
||||||
@ -1,3 +0,0 @@
|
|||||||
BOARD = mega
|
|
||||||
include ../../../../mk/apm.mk
|
|
||||||
|
|
||||||
@ -1,25 +0,0 @@
|
|||||||
LIBRARIES += AP_ADC
|
|
||||||
LIBRARIES += AP_AHRS
|
|
||||||
LIBRARIES += AP_Airspeed
|
|
||||||
LIBRARIES += AP_Baro
|
|
||||||
LIBRARIES += AP_BattMonitor
|
|
||||||
LIBRARIES += AP_Common
|
|
||||||
LIBRARIES += AP_Compass
|
|
||||||
LIBRARIES += AP_Declination
|
|
||||||
LIBRARIES += AP_GPS
|
|
||||||
LIBRARIES += AP_InertialSensor
|
|
||||||
LIBRARIES += AP_AccelCal
|
|
||||||
LIBRARIES += AP_Math
|
|
||||||
LIBRARIES += AP_Mission
|
|
||||||
LIBRARIES += AP_Motors
|
|
||||||
LIBRARIES += AP_NavEKF
|
|
||||||
LIBRARIES += AP_Notify
|
|
||||||
LIBRARIES += AP_Param
|
|
||||||
LIBRARIES += AP_RangeFinder
|
|
||||||
LIBRARIES += AP_Terrain
|
|
||||||
LIBRARIES += AP_Vehicle
|
|
||||||
LIBRARIES += DataFlash
|
|
||||||
LIBRARIES += Filter
|
|
||||||
LIBRARIES += GCS_MAVLink
|
|
||||||
LIBRARIES += RC_Channel
|
|
||||||
LIBRARIES += StorageManager
|
|
||||||
@ -1,10 +0,0 @@
|
|||||||
#!/usr/bin/env python
|
|
||||||
# encoding: utf-8
|
|
||||||
|
|
||||||
def build(bld):
|
|
||||||
# TODO: Test code doesn't build. Fix or delete the test.
|
|
||||||
return
|
|
||||||
|
|
||||||
bld.ap_example(
|
|
||||||
use='ap',
|
|
||||||
)
|
|
||||||
Loading…
Reference in New Issue
Block a user