// mavlink_motor_test_start - start motor test - spin a single motor at a specified pwm
// returns MAV_RESULT_ACCEPTED on success, MAV_RESULT_FAILED on failure
uint8_t QuadPlane::mavlink_motor_test_start(mavlink_channel_t chan, uint8_t motor_seq, uint8_t throttle_type,
uint16_t throttle_value, float timeout_sec, uint8_t motor_count)
{
if (motors->armed()) {
plane.gcs_send_text(MAV_SEVERITY_INFO, "Must be disarmed for motor test");
return MAV_RESULT_FAILED;
}
// if test has not started try to start it
if (!motor_test.running) {
// start test
motor_test.running = true;
// enable and arm motors
set_armed(true);
// turn on notify leds
AP_Notify::flags.esc_calibration = true;
}
// set timeout
motor_test.start_ms = AP_HAL::millis();
motor_test.timeout_ms = MIN(timeout_sec * 1000, MOTOR_TEST_TIMEOUT_MS_MAX);
// store required output
motor_test.seq = motor_seq;
motor_test.throttle_type = throttle_type;
motor_test.throttle_value = throttle_value;
motor_test.motor_count = MIN(motor_count, 8);
// return success
return MAV_RESULT_ACCEPTED;
}
void rollcontrol_init(void){
set_armed(false);
sd = udp_socket();
if(sd < 0){
return;
}
if(connect(sd, RC_SERVO_ENABLE_ADDR, sizeof(struct sockaddr_in)) < 0){
perror("rollcontrol_init: connect() failed");
close(sd);
}
}
// motor_test_stop - stops the motor test
void QuadPlane::motor_test_stop()
{
// exit immediately if the test is not running
if (!motor_test.running) {
return;
}
// flag test is complete
motor_test.running = false;
// disarm motors
set_armed(false);
// reset timeout
motor_test.start_ms = 0;
motor_test.timeout_ms = 0;
// turn off notify leds
AP_Notify::flags.esc_calibration = false;
}
