From 2128085576092b9abae7a78490b2f6d715521d55 Mon Sep 17 00:00:00 2001
From: rmackay9 <rmackay9@yahoo.com>
Date: Wed, 4 Apr 2012 23:05:26 +0900
Subject: [PATCH] ArduCopter - test.pde - changed references "motor_armed" to
"motors.armed()" as part of move to AP_Motors library. Change to ESC
initialisation calls to use motors.throttle_pass_through method of AP_Motors
class.
---
ArduCopter/test.pde | 24 +++++++++++++++++-------
1 file changed, 17 insertions(+), 7 deletions(-)
diff --git a/ArduCopter/test.pde b/ArduCopter/test.pde
index 714d10283..635b9e58d 100644
--- a/ArduCopter/test.pde
+++ b/ArduCopter/test.pde
@@ -316,8 +316,8 @@ test_radio(uint8_t argc, const Menu::arg *argv)
Serial.printf_P(PSTR("g.pi_stabilize_roll.kP: %4.4f\n"), g.pi_stabilize_roll.kP());
Serial.printf_P(PSTR("max_stabilize_dampener:%d\n\n "), max_stabilize_dampener);
- motor_auto_armed = false;
- motor_armed = true;
+ motors.auto_armed(false);
+ motors.armed(true);
while(1){
// 50 hz
@@ -766,11 +766,22 @@ test_tuning(uint8_t argc, const Menu::arg *argv)
static int8_t
test_battery(uint8_t argc, const Menu::arg *argv)
{
- #if defined( __AVR_ATmega1280__ ) // determines if optical flow code is included
+ #if defined( __AVR_ATmega1280__ ) // disable this test if we are using 1280
print_test_disabled();
return (0);
#else
+ Serial.printf_P(PSTR("\nCareful! Motors will spin! Press Enter to start.\n"));
+ Serial.flush();
+ while(!Serial.available()){
+ delay(100);
+ }
+ Serial.flush();
print_hit_enter();
+
+ // allow motors to spin
+ motors.enable();
+ motors.armed(true);
+
while(1){
delay(100);
read_radio();
@@ -786,15 +797,14 @@ test_battery(uint8_t argc, const Menu::arg *argv)
current_amps1,
current_total1);
}
- APM_RC.OutputCh(MOT_1, g.rc_3.radio_in);
- APM_RC.OutputCh(MOT_2, g.rc_3.radio_in);
- APM_RC.OutputCh(MOT_3, g.rc_3.radio_in);
- APM_RC.OutputCh(MOT_4, g.rc_3.radio_in);
+ motors.throttle_pass_through();
if(Serial.available() > 0){
+ motors.armed(false);
return (0);
}
}
+ motors.armed(false);
return (0);
#endif
}
--
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