From 416e9457ce11ae37200e6380834b1c5f3a4cd2e5 Mon Sep 17 00:00:00 2001
From: Randy Mackay <rmackay9@yahoo.com>
Date: Mon, 28 Apr 2014 16:30:39 +0900
Subject: [PATCH] Copter: remove cli motor test
---
ArduCopter/test.pde | 157 --------------------------------------------
1 file changed, 157 deletions(-)
diff --git a/ArduCopter/test.pde b/ArduCopter/test.pde
index e909eaa8d..0651c92b4 100644
--- a/ArduCopter/test.pde
+++ b/ArduCopter/test.pde
@@ -9,8 +9,6 @@ static int8_t test_baro(uint8_t argc, const Menu::arg *argv);
#endif
static int8_t test_compass(uint8_t argc, const Menu::arg *argv);
static int8_t test_ins(uint8_t argc, const Menu::arg *argv);
-static int8_t test_motors(uint8_t argc, const Menu::arg *argv);
-static int8_t test_motorsync(uint8_t argc, const Menu::arg *argv);
static int8_t test_optflow(uint8_t argc, const Menu::arg *argv);
static int8_t test_relay(uint8_t argc, const Menu::arg *argv);
#if CONFIG_HAL_BOARD == HAL_BOARD_PX4 || CONFIG_HAL_BOARD == HAL_BOARD_VRBRAIN
@@ -30,8 +28,6 @@ const struct Menu::command test_menu_commands[] PROGMEM = {
#endif
{"compass", test_compass},
{"ins", test_ins},
- {"motors", test_motors},
- {"motorsync", test_motorsync},
{"optflow", test_optflow},
{"relay", test_relay},
#if CONFIG_HAL_BOARD == HAL_BOARD_PX4 || CONFIG_HAL_BOARD == HAL_BOARD_VRBRAIN
@@ -198,159 +194,6 @@ test_ins(uint8_t argc, const Menu::arg *argv)
}
}
-static int8_t
-test_motors(uint8_t argc, const Menu::arg *argv)
-{
- cliSerial->printf_P(PSTR(
- "Connect battery for this test.\n"
- "Motors will spin by frame position order.\n"
- "Front (& right of centerline) motor first, then in clockwise order around frame.\n"
- "Remember to disconnect battery after this test.\n"
- "Any key to exit.\n"));
-
- // ensure all values have been sent to motors
- motors.set_update_rate(g.rc_speed);
- motors.set_frame_orientation(g.frame_orientation);
- motors.set_min_throttle(g.throttle_min);
- motors.set_mid_throttle(g.throttle_mid);
-
- // enable motors
- init_rc_out();
-
- while(1) {
- delay(20);
- read_radio();
- motors.output_test();
- if(cliSerial->available() > 0) {
- g.esc_calibrate.set_and_save(0);
- return(0);
- }
- }
-}
-
-
-// test_motorsync - suddenly increases pwm output to motors to test if ESC loses sync
-static int8_t
-test_motorsync(uint8_t argc, const Menu::arg *argv)
-{
- bool test_complete = false;
- bool spin_motors = false;
- uint32_t spin_start_time = 0;
- uint32_t last_run_time;
- int16_t last_throttle = 0;
- int16_t c;
-
- // check if radio is calibration
- pre_arm_rc_checks();
- if (!ap.pre_arm_rc_check) {
- cliSerial->print_P(PSTR("radio not calibrated\n"));
- return 0;
- }
-
- // print warning that motors will spin
- // ask user to raise throttle
- // inform how to stop test
- cliSerial->print_P(PSTR("This sends sudden outputs to the motors based on the pilot's throttle to test for ESC loss of sync. Motors will spin so mount props up-side-down!\n Hold throttle low, then raise throttle stick to desired level and press A. Motors will spin for 2 sec and then return to low.\nPress any key to exit.\n"));
-
- // clear out user input
- while (cliSerial->available()) {
- cliSerial->read();
- }
-
- // disable throttle and battery failsafe
- g.failsafe_throttle = FS_THR_DISABLED;
- g.failsafe_battery_enabled = FS_BATT_DISABLED;
-
- // read radio
- read_radio();
-
- // exit immediately if throttle is not zero
- if( g.rc_3.control_in != 0 ) {
- cliSerial->print_P(PSTR("throttle not zero\n"));
- return 0;
- }
-
- // clear out any user input
- while (cliSerial->available()) {
- cliSerial->read();
- }
-
- // enable motors and pass through throttle
- init_rc_out();
- output_min();
- motors.armed(true);
-
- // initialise run time
- last_run_time = millis();
-
- // main run while the test is not complete
- while(!test_complete) {
- // 50hz loop
- if( millis() - last_run_time > 20 ) {
- last_run_time = millis();
-
- // read radio input
- read_radio();
-
- // display throttle value
- if (abs(g.rc_3.control_in-last_throttle) > 10) {
- cliSerial->printf_P(PSTR("\nThr:%d"),g.rc_3.control_in);
- last_throttle = g.rc_3.control_in;
- }
-
- // decode user input
- if (cliSerial->available()) {
- c = cliSerial->read();
- if (c == 'a' || c == 'A') {
- spin_motors = true;
- spin_start_time = millis();
- // display user's throttle level
- cliSerial->printf_P(PSTR("\nSpin motors at:%d"),(int)g.rc_3.control_in);
- // clear out any other use input queued up
- while (cliSerial->available()) {
- cliSerial->read();
- }
- }else{
- // any other input ends the test
- test_complete = true;
- motors.armed(false);
- }
- }
-
- // check if time to stop motors
- if (spin_motors) {
- if ((millis() - spin_start_time) > 2000) {
- spin_motors = false;
- cliSerial->printf_P(PSTR("\nMotors stopped"));
- }
- }
-
- // output to motors
- if (spin_motors) {
- // pass pilot throttle through to motors
- motors.throttle_pass_through();
- }else{
- // spin motors at minimum
- output_min();
- }
- }
- }
-
- // stop motors
- motors.output_min();
- motors.armed(false);
-
- // clear out any user input
- while( cliSerial->available() ) {
- cliSerial->read();
- }
-
- // display completion message
- cliSerial->printf_P(PSTR("\nTest complete\n"));
-
- return 0;
-}
-
static int8_t
test_optflow(uint8_t argc, const Menu::arg *argv)
{
--
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