// motor_test_output - checks for timeout and sends updates to motors objects
void QuadPlane::motor_test_output()
{
// exit immediately if the motor test is not running
if (!motor_test.running) {
return;
}
// check for test timeout
uint32_t now = AP_HAL::millis();
if ((now - motor_test.start_ms) >= motor_test.timeout_ms) {
if (motor_test.motor_count > 1) {
if (now - motor_test.start_ms < motor_test.timeout_ms*1.5) {
// output zero for 0.5s
motors->output_min();
} else {
// move onto next motor
motor_test.seq++;
motor_test.motor_count--;
motor_test.start_ms = now;
}
return;
}
// stop motor test
motor_test_stop();
return;
}
int16_t pwm = 0; // pwm that will be output to the motors
// calculate pwm based on throttle type
switch (motor_test.throttle_type) {
case MOTOR_TEST_THROTTLE_PERCENT:
// sanity check motor_test.throttle value
if (motor_test.throttle_value <= 100) {
pwm = thr_min_pwm + (thr_max_pwm - thr_min_pwm) * (float)motor_test.throttle_value*0.01f;
}
break;
case MOTOR_TEST_THROTTLE_PWM:
pwm = motor_test.throttle_value;
break;
case MOTOR_TEST_THROTTLE_PILOT:
pwm = plane.channel_throttle->get_radio_in();
break;
default:
motor_test_stop();
return;
}
// sanity check throttle values
if (pwm >= MOTOR_TEST_PWM_MIN && pwm <= MOTOR_TEST_PWM_MAX ) {
// turn on motor to specified pwm vlaue
motors->output_test(motor_test.seq, pwm);
} else {
motor_test_stop();
}
}
// motor_test_output - checks for timeout and sends updates to motors objects
void Copter::motor_test_output()
{
// exit immediately if the motor test is not running
if (!ap.motor_test) {
return;
}
// check for test timeout
if ((AP_HAL::millis() - motor_test_start_ms) >= motor_test_timeout_ms) {
// stop motor test
motor_test_stop();
} else {
int16_t pwm = 0; // pwm that will be output to the motors
// calculate pwm based on throttle type
switch (motor_test_throttle_type) {
case MOTOR_TEST_THROTTLE_PERCENT:
// sanity check motor_test_throttle value
#if FRAME_CONFIG != HELI_FRAME
if (motor_test_throttle_value <= 100) {
int16_t pwm_min = motors.get_pwm_output_min();
int16_t pwm_max = motors.get_pwm_output_max();
pwm = pwm_min + (pwm_max - pwm_min) * (float)motor_test_throttle_value/100.0f;
}
#endif
break;
case MOTOR_TEST_THROTTLE_PWM:
pwm = motor_test_throttle_value;
break;
case MOTOR_TEST_THROTTLE_PILOT:
pwm = channel_throttle->get_radio_in();
break;
default:
motor_test_stop();
return;
break;
}
// sanity check throttle values
if (pwm >= MOTOR_TEST_PWM_MIN && pwm <= MOTOR_TEST_PWM_MAX ) {
// turn on motor to specified pwm vlaue
motors.output_test(motor_test_seq, pwm);
} else {
motor_test_stop();
}
}
}
// motor_test_output - checks for timeout and sends updates to motors objects
void Sub::motor_test_output()
{
// exit immediately if the motor test is not running
if (!ap.motor_test) {
return;
}
// check for test timeout
if ((AP_HAL::millis() - motor_test_start_ms) >= motor_test_timeout_ms) {
// stop motor test
motor_test_stop();
} else {
int16_t pwm = 0; // pwm that will be output to the motors
// calculate pwm based on throttle type
switch (motor_test_throttle_type) {
case MOTOR_TEST_THROTTLE_PERCENT:
// sanity check motor_test_throttle value
break;
case MOTOR_TEST_THROTTLE_PWM:
pwm = motor_test_throttle_value;
break;
case MOTOR_TEST_THROTTLE_PILOT:
pwm = channel_throttle->get_radio_in();
break;
default:
motor_test_stop();
return;
break;
}
// sanity check throttle values
if (pwm >= MOTOR_TEST_PWM_MIN && pwm <= MOTOR_TEST_PWM_MAX ) {
// turn on motor to specified pwm vlaue
motors.output_test(motor_test_seq, pwm);
} else {
motor_test_stop();
}
}
}
// motor_test_output - checks for timeout and sends updates to motors objects
void Copter::motor_test_output()
{
// exit immediately if the motor test is not running
if (!ap.motor_test) {
return;
}
// check for test timeout
uint32_t now = AP_HAL::millis();
if ((now - motor_test_start_ms) >= motor_test_timeout_ms) {
if (motor_test_count > 1) {
if (now - motor_test_start_ms < motor_test_timeout_ms*1.5) {
// output zero for 50% of the test time
motors->output_min();
} else {
// move onto next motor
motor_test_seq++;
motor_test_count--;
motor_test_start_ms = now;
if (!motors->armed()) {
motors->armed(true);
}
}
return;
}
// stop motor test
motor_test_stop();
} else {
int16_t pwm = 0; // pwm that will be output to the motors
// calculate pwm based on throttle type
switch (motor_test_throttle_type) {
case MOTOR_TEST_COMPASS_CAL:
compass.set_voltage(battery.voltage());
compass.per_motor_calibration_update();
FALLTHROUGH;
case MOTOR_TEST_THROTTLE_PERCENT:
// sanity check motor_test_throttle value
#if FRAME_CONFIG != HELI_FRAME
if (motor_test_throttle_value <= 100) {
int16_t pwm_min = motors->get_pwm_output_min();
int16_t pwm_max = motors->get_pwm_output_max();
pwm = pwm_min + (pwm_max - pwm_min) * (float)motor_test_throttle_value/100.0f;
}
#endif
break;
case MOTOR_TEST_THROTTLE_PWM:
pwm = motor_test_throttle_value;
break;
case MOTOR_TEST_THROTTLE_PILOT:
pwm = channel_throttle->get_radio_in();
break;
default:
motor_test_stop();
return;
}
// sanity check throttle values
if (pwm >= MOTOR_TEST_PWM_MIN && pwm <= MOTOR_TEST_PWM_MAX ) {
// turn on motor to specified pwm vlaue
motors->output_test(motor_test_seq, pwm);
} else {
motor_test_stop();
}
}
}