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Added per-motor test routine, test came clean. Worth trying PID tuning.

This commit is contained in:
Lorenz Meier 2012-09-07 12:40:18 +02:00
parent 09b883897f
commit 9c01df734a
1 changed files with 22 additions and 1 deletions
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23
apps/ardrone_interface/ardrone_interface.c
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@ -191,12 +191,26 @@ int ardrone_interface_thread_main(int argc, char *argv[])
char *commandline_usage = "\tusage: ardrone_interface start|status|stop [-t for motor test (10%% thrust)]\n";
bool motor_test_mode = false;
int test_motor = -1;
/* read commandline arguments */
for (int i = 0; i < argc && argv[i]; i++) {
if (strcmp(argv[i], "-t") == 0 || strcmp(argv[i], "--test") == 0) {
motor_test_mode = true;
}
if (strcmp(argv[i], "-m") == 0 || strcmp(argv[i], "--motor") == 0) {
if (i+1 < argc) {
int motor = atoi(argv[i+1]);
if (motor > 0 && motor < 5) {
test_motor = motor;
} else {
errx(1, "supply a motor # between 1 and 4. Example: -m 1\n %s", commandline_usage);
}
} else {
errx(1, "missing parameter to -m 1..4\n %s", commandline_usage);
}
}
}
struct termios uart_config_original;
@ -279,7 +293,14 @@ int ardrone_interface_thread_main(int argc, char *argv[])
if (motor_test_mode) {
/* set motors to idle speed */
ardrone_write_motor_commands(ardrone_write, 10, 10, 10, 10);
if (test_motor > 0 && test_motor < 5) {
int motors[4] = {0, 0, 0, 0};
motors[test_motor - 1] = 10;
ardrone_write_motor_commands(ardrone_write, motors[0], motors[1], motors[2], motors[3]);
} else {
ardrone_write_motor_commands(ardrone_write, 10, 10, 10, 10);
}
} else {
/* MAIN OPERATION MODE */