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mixer_module: add support for test_motor (motor_test CLI command)

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Beat Küng
2019-10-21 09:42:08 +02:00
parent 349469cf75
commit 0871802568
9 changed files with 170 additions and 45 deletions
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msg/test_motor.msg
+6
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@@ -1,7 +1,13 @@
uint64 timestamp # time since system start (microseconds)
uint8 NUM_MOTOR_OUTPUTS = 8
uint8 ACTION_STOP = 0 # stop motors (disable motor test mode)
uint8 ACTION_RUN = 1 # run motors (enable motor test mode)
uint8 action # one of ACTION_* (applies to all motors)
uint32 motor_number # number of motor to spin
float32 value # output power, range [0..1]
uint8 driver_instance # select output driver (for boards with multiple outputs, like IO+FMU)
uint8 ORB_QUEUE_LENGTH = 4