// stability_test
void motor_order_test()
{
hal.console->println("testing motor order");
motors.armed(true);
for (int8_t i=1; i <= AP_MOTORS_MAX_NUM_MOTORS; i++) {
hal.console->printf("Motor %d\n",(int)i);
motors.output_test(i, 1150);
hal.scheduler->delay(300);
motors.output_test(i, 1000);
hal.scheduler->delay(2000);
}
motors.armed(false);
hal.console->println("finished test.");
}
void apmotors_output_set(const struct controloutput *ctl,
const struct flightmode *fm) {
if (motors.armed() && !(fm->armed)) {
motors.armed(false);
} else if (!motors.armed() && (fm->armed)) {
motors.armed(true);
}
s_roll.servo_out = angular_scale(ctl->roll);
s_pitch.servo_out = angular_scale(ctl->pitch);
s_yaw.servo_out = angular_scale(ctl->yaw);
s_throttle.servo_out = throttle_scale(ctl->throttle);
motors.output();
}
void update_motors()
{
// call update motors 1000 times to get any ramp limiting completed
for (uint16_t i=0; i<1000; i++) {
motors.output();
}
}
// setup
void setup()
{
hal.console->println("AP_Motors library test ver 1.0");
// motor initialisation
motors.set_update_rate(490);
motors.set_frame_orientation(AP_MOTORS_X_FRAME);
motors.Init();
motors.set_throttle_range(130,1000,2000);
motors.set_hover_throttle(500);
motors.enable();
motors.output_min();
// setup radio
if (rc3.radio_min == 0) {
// cope with AP_Param not being loaded
rc3.radio_min = 1000;
}
if (rc3.radio_max == 0) {
// cope with AP_Param not being loaded
rc3.radio_max = 2000;
}
// set rc channel ranges
rc1.set_angle(4500);
rc2.set_angle(4500);
rc3.set_range(130, 1000);
rc4.set_angle(4500);
hal.scheduler->delay(1000);
}
// stability_test
void motor_order_test()
{
motors.armed(true);
for (int8_t i=1; i <= 4; i++) {
hal.console->printf("Motor %d\n",(int)i);
int elapsed =0,stop;
int start = hal.scheduler->micros(); //Time Test
motors.output_test(i, 1150);
stop = hal.scheduler->micros();
elapsed = stop - start;
hal.console->printf(" Elapsed Time: %dus\n",elapsed);
hal.scheduler->delay(300);
motors.output_test(i, 1000);
hal.scheduler->delay(2000);
}
motors.armed(false);
hal.console->printf("\n\n");
}
void apmotors_output_init(void) {
angular_channel_setup(&s_roll);
angular_channel_setup(&s_pitch);
angular_channel_setup(&s_yaw);
throttle_channel_setup(&s_throttle);
motors.set_update_rate(50); /* Is this appropriate with IOAR?
Otherwise? */
motors.set_frame_orientation(AP_MOTORS_X_FRAME);
motors.Init();
motors.set_min_throttle(THROTTLE_MINIMUM);
motors.set_max_throttle(THROTTLE_MAXIMUM);
motors.enable();
motors.output_min();
motors.auto_armed(true);
}
// stability_test
void stability_test()
{
int16_t roll_in, pitch_in, yaw_in, throttle_in, avg_out;
int16_t testing_array[][4] = {
// roll, pitch, yaw, throttle
{ 0, 0, 0, 0},
{ 0, 0, 0, 100},
{ 0, 0, 0, 200},
{ 0, 0, 0, 300},
{ 4500, 0, 0, 300},
{ -4500, 0, 0, 300},
{ 0, 4500, 0, 300},
{ 0, -4500, 0, 300},
{ 0, 0, 4500, 300},
{ 0, 0, -4500, 300},
{ 0, 0, 0, 400},
{ 0, 0, 0, 500},
{ 0, 0, 0, 600},
{ 0, 0, 0, 700},
{ 0, 0, 0, 800},
{ 0, 0, 0, 900},
{ 0, 0, 0, 1000},
{ 4500, 0, 0, 1000},
{ -4500, 0, 0, 1000},
{ 0, 4500, 0, 1000},
{ 0, -4500, 0, 1000},
{ 0, 0, 4500, 1000},
{ 0, 0, -4500, 1000},
{5000, 1000, 0, 1000},
{5000, 2000, 0, 1000},
{5000, 3000, 0, 1000},
{5000, 4000, 0, 1000},
{5000, 5000, 0, 1000},
{5000, 0, 1000, 1000},
{5000, 0, 2000, 1000},
{5000, 0, 3000, 1000},
{5000, 0, 4500, 1000}
};
uint32_t testing_array_rows = 32;
hal.console->printf("\nTesting stability patch\nThrottle Min:%d Max:%d\n",(int)rc3.radio_min,(int)rc3.radio_max);
// arm motors
motors.armed(true);
motors.set_interlock(true);
motors.set_stabilizing(true);
// run stability test
for (uint16_t i=0; i<testing_array_rows; i++) {
roll_in = testing_array[i][0];
pitch_in = testing_array[i][1];
yaw_in = testing_array[i][2];
throttle_in = testing_array[i][3];
motors.set_pitch(roll_in);
motors.set_roll(pitch_in);
motors.set_yaw(yaw_in);
motors.set_throttle(throttle_in);
update_motors();
// calc average output
avg_out = ((hal.rcout->read(0) + hal.rcout->read(1) + hal.rcout->read(2) + hal.rcout->read(3))/4);
// display input and output
hal.console->printf("R:%5d \tP:%5d \tY:%5d \tT:%5d\tMOT1:%5d \tMOT2:%5d \tMOT3:%5d \tMOT4:%5d \t AvgOut:%5d\n",
(int)roll_in,
(int)pitch_in,
(int)yaw_in,
(int)throttle_in,
(int)hal.rcout->read(0),
(int)hal.rcout->read(1),
(int)hal.rcout->read(2),
(int)hal.rcout->read(3),
(int)avg_out);
}
// set all inputs to motor library to zero and disarm motors
motors.set_pitch(0);
motors.set_roll(0);
motors.set_yaw(0);
motors.set_throttle(0);
motors.armed(false);
hal.console->println("finished test.");
}