C++ (Cpp) AP_MotorsQuad::output_test示例

示例#1

文件： AP_Motors_test.cpp 项目： 08shwang/ardupilot

// 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.");

}

示例#2

文件： AP_Motors_Time_test.cpp 项目： geofrancis/ardupilot

// 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");
}