From 8f74f5b3b0abe6c27dac66bfdff33756371d2255 Mon Sep 17 00:00:00 2001
From: Randy Mackay <rmackay9@yahoo.com>
Date: Mon, 28 Apr 2014 16:29:30 +0900
Subject: [PATCH] CoaxCopter: output_test for individual motors
Based on original work by Nils Hogberg
---
libraries/AP_Motors/AP_MotorsCoax.cpp | 65 +++++++++++++--------------
libraries/AP_Motors/AP_MotorsCoax.h | 6 ++-
2 files changed, 34 insertions(+), 37 deletions(-)
diff --git a/libraries/AP_Motors/AP_MotorsCoax.cpp b/libraries/AP_Motors/AP_MotorsCoax.cpp
index 249e79f18..a44c75c1f 100644
--- a/libraries/AP_Motors/AP_MotorsCoax.cpp
+++ b/libraries/AP_Motors/AP_MotorsCoax.cpp
@@ -206,41 +206,36 @@ void AP_MotorsCoax::output_disarmed()
output_min();
}
-// output_test - spin each motor for a moment to allow the user to confirm the motor order and spin direction
-void AP_MotorsCoax::output_test()
+// output_test - spin a motor at the pwm value specified
+// motor_seq is the motor's sequence number from 1 to the number of motors on the frame
+// pwm value is an actual pwm value that will be output, normally in the range of 1000 ~ 2000
+void AP_MotorsCoax::output_test(uint8_t motor_seq, int16_t pwm)
{
- // Send minimum values to all motors
- output_min();
-
- // spin motor 1
- hal.scheduler->delay(1000);
- hal.rcout->write(pgm_read_byte(&_motor_to_channel_map[AP_MOTORS_MOT_3]), _rc_throttle.radio_min + _min_throttle);
- hal.scheduler->delay(1000);
- hal.rcout->write(pgm_read_byte(&_motor_to_channel_map[AP_MOTORS_MOT_3]), _rc_throttle.radio_min);
- hal.scheduler->delay(2000);
-
- // spin motor 2
- hal.scheduler->delay(1000);
- hal.rcout->write(pgm_read_byte(&_motor_to_channel_map[AP_MOTORS_MOT_4]), _rc_throttle.radio_min + _min_throttle);
- hal.scheduler->delay(1000);
- hal.rcout->write(pgm_read_byte(&_motor_to_channel_map[AP_MOTORS_MOT_4]), _rc_throttle.radio_min);
- hal.scheduler->delay(2000);
-
- // flap servo 1
- hal.rcout->write(pgm_read_byte(&_motor_to_channel_map[AP_MOTORS_MOT_1]), _servo1.radio_min);
- hal.scheduler->delay(1000);
- hal.rcout->write(pgm_read_byte(&_motor_to_channel_map[AP_MOTORS_MOT_1]), _servo1.radio_max);
- hal.scheduler->delay(1000);
- hal.rcout->write(pgm_read_byte(&_motor_to_channel_map[AP_MOTORS_MOT_1]), _servo1.radio_trim);
- hal.scheduler->delay(2000);
-
- // flap servo 2
- hal.rcout->write(pgm_read_byte(&_motor_to_channel_map[AP_MOTORS_MOT_2]), _servo2.radio_min);
- hal.scheduler->delay(1000);
- hal.rcout->write(pgm_read_byte(&_motor_to_channel_map[AP_MOTORS_MOT_2]), _servo2.radio_max);
- hal.scheduler->delay(1000);
- hal.rcout->write(pgm_read_byte(&_motor_to_channel_map[AP_MOTORS_MOT_2]), _servo2.radio_trim);
+ // exit immediately if not armed
+ if (!_flags.armed) {
+ return;
+ }
- // Send minimum values to all motors
- output_min();
+ // output to motors and servos
+ switch (motor_seq) {
+ case 1:
+ // flap servo 1
+ hal.rcout->write(pgm_read_byte(&_motor_to_channel_map[AP_MOTORS_MOT_1]), pwm);
+ break;
+ case 2:
+ // flap servo 2
+ hal.rcout->write(pgm_read_byte(&_motor_to_channel_map[AP_MOTORS_MOT_2]), pwm);
+ break;
+ case 3:
+ // motor 1
+ hal.rcout->write(pgm_read_byte(&_motor_to_channel_map[AP_MOTORS_MOT_3]), pwm);
+ break;
+ case 4:
+ // motor 2
+ hal.rcout->write(pgm_read_byte(&_motor_to_channel_map[AP_MOTORS_MOT_4]), pwm);
+ break;
+ default:
+ // do nothing
+ break;
+ }
}
diff --git a/libraries/AP_Motors/AP_MotorsCoax.h b/libraries/AP_Motors/AP_MotorsCoax.h
index ef73cc344..20f76db7d 100644
--- a/libraries/AP_Motors/AP_MotorsCoax.h
+++ b/libraries/AP_Motors/AP_MotorsCoax.h
@@ -42,8 +42,10 @@ public:
// enable - starts allowing signals to be sent to motors
virtual void enable();
- // output_test - spin each motor for a moment to allow the user to confirm the motor order and spin direction
- virtual void output_test();
+ // output_test - spin a motor at the pwm value specified
+ // motor_seq is the motor's sequence number from 1 to the number of motors on the frame
+ // pwm value is an actual pwm value that will be output, normally in the range of 1000 ~ 2000
+ virtual void output_test(uint8_t motor_seq, int16_t pwm);
// output_min - sends minimum values out to the motors
virtual void output_min();
--
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