C++ (Cpp) mavlink_motor_test_checkの例

コード例 #1

ファイル: motor_test.cpp プロジェクト: greggibbons/ardupilot

// 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
MAV_RESULT Copter::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 (motor_count == 0) {
        motor_count = 1;
    }
    // if test has not started try to start it
    if (!ap.motor_test) {
        gcs().send_text(MAV_SEVERITY_INFO, "starting motor test");

        /* perform checks that it is ok to start test
           The RC calibrated check can be skipped if direct pwm is
           supplied
        */
        if (!mavlink_motor_test_check(chan, throttle_type != 1)) {
            return MAV_RESULT_FAILED;
        } else {
            // start test
            ap.motor_test = true;

            // enable and arm motors
            if (!motors->armed()) {
                init_rc_out();
                enable_motor_output();
                motors->armed(true);
            }

            // disable throttle and gps failsafe
            g.failsafe_throttle = FS_THR_DISABLED;
            g.failsafe_gcs = FS_GCS_DISABLED;
            g.fs_ekf_action = 0;

            // 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, MOTOR_TEST_TIMEOUT_SEC) * 1000;

    // store required output
    motor_test_seq = motor_seq;
    motor_test_count = motor_count;
    motor_test_throttle_type = throttle_type;
    motor_test_throttle_value = throttle_value;

    if (motor_test_throttle_type == MOTOR_TEST_COMPASS_CAL) {
        compass.per_motor_calibration_start();
    }            

    // return success
    return MAV_RESULT_ACCEPTED;
}

コード例 #2

ファイル: motor_test.cpp プロジェクト: IISAR/ardupilot

// 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 Copter::mavlink_motor_test_start(mavlink_channel_t chan, uint8_t motor_seq, uint8_t throttle_type, uint16_t throttle_value, float timeout_sec)
{
    // if test has not started try to start it
    if (!ap.motor_test) {
        /* perform checks that it is ok to start test
           The RC calibrated check can be skipped if direct pwm is
           supplied
        */
        if (!mavlink_motor_test_check(chan, throttle_type != 1)) {
            return MAV_RESULT_FAILED;
        } else {
            // start test
            ap.motor_test = true;

            // enable and arm motors
            if (!motors->armed()) {
                init_rc_out();
                enable_motor_output();
                motors->armed(true);
            }

            // disable throttle, battery and gps failsafe
            g.failsafe_throttle = FS_THR_DISABLED;
            g.failsafe_battery_enabled = FS_BATT_DISABLED;
            g.failsafe_gcs = FS_GCS_DISABLED;

            // 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;

    // return success
    return MAV_RESULT_ACCEPTED;
}