From 28846c6c998b744afe64624d6f1b5e2160c45e21 Mon Sep 17 00:00:00 2001 From: Randy Mackay <rmackay9@yahoo.com> Date: Mon, 28 Apr 2014 16:26:11 +0900 Subject: [PATCH] GCS_MAVLink: add DO_MOTOR_TEST message --- .../message_definitions/ardupilotmega.xml | 24 +++++++++++++++++++ 1 file changed, 24 insertions(+) diff --git a/libraries/GCS_MAVLink/message_definitions/ardupilotmega.xml b/libraries/GCS_MAVLink/message_definitions/ardupilotmega.xml index a9c883ddd..7149894d6 100644 --- a/libraries/GCS_MAVLink/message_definitions/ardupilotmega.xml +++ b/libraries/GCS_MAVLink/message_definitions/ardupilotmega.xml @@ -100,6 +100,17 @@ <param index="7">Empty</param> </entry> + <entry name="MAV_CMD_DO_MOTOR_TEST" value="209"> + <description>Mission command to perform motor test</description> + <param index="1">motor sequence number (a number from 1 to max number of motors on the vehicle)</param> + <param index="2">throttle type (0=throttle percentage, 1=PWM, 2=pilot throttle channel pass-through. See MOTOR_TEST_THROTTLE_TYPE enum)</param> + <param index="3">throttle</param> + <param index="4">timeout (in seconds)</param> + <param index="5">Empty</param> + <param index="6">Empty</param> + <param index="7">Empty</param> + </entry> + </enum> <!-- fenced mode enums --> @@ -170,6 +181,19 @@ </entry> </enum> + <!-- motor test type enum --> + <enum name="MOTOR_TEST_THROTTLE_TYPE"> + <entry name="MOTOR_TEST_THROTTLE_PERCENT" value="0"> + <description>throttle as a percentage from 0 ~ 100</description> + </entry> + <entry name="MOTOR_TEST_THROTTLE_PWM" value="1"> + <description>throttle as an absolute PWM value (normally in range of 1000~2000)</description> + </entry> + <entry name="MOTOR_TEST_THROTTLE_PILOT" value="2"> + <description>throttle pass-through from pilot's transmitter</description> + </entry> + </enum> + </enums> <messages> -- GitLab