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multirotor_motor_limits only publish for MC

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This commit is contained in:
Daniel Agar
2017-09-19 02:25:30 +01:00
committed by Nuno Marques
parent 9cacd3f994
commit 26f00609ac
23 changed files with 192 additions and 352 deletions
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src/systemcmds/tests/test_mixer.cpp
+5 -5
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@@ -395,7 +395,7 @@ bool MixerTest::mixerTest()
/* mix */
should_prearm = true;
mixed = mixer_group.mix(&outputs[0], output_max, nullptr);
mixed = mixer_group.mix(&outputs[0], output_max);
pwm_limit_calc(should_arm, should_prearm, mixed, reverse_pwm_mask, r_page_servo_disarmed, r_page_servo_control_min,
r_page_servo_control_max, outputs, r_page_servos, &pwm_limit);
@@ -436,7 +436,7 @@ bool MixerTest::mixerTest()
while (hrt_elapsed_time(&starttime) < INIT_TIME_US + RAMP_TIME_US + 2 * sleep_quantum_us) {
/* mix */
mixed = mixer_group.mix(&outputs[0], output_max, nullptr);
mixed = mixer_group.mix(&outputs[0], output_max);
pwm_limit_calc(should_arm, should_prearm, mixed, reverse_pwm_mask, r_page_servo_disarmed, r_page_servo_control_min,
r_page_servo_control_max, outputs, r_page_servos, &pwm_limit);
@@ -480,7 +480,7 @@ bool MixerTest::mixerTest()
}
/* mix */
mixed = mixer_group.mix(&outputs[0], output_max, nullptr);
mixed = mixer_group.mix(&outputs[0], output_max);
pwm_limit_calc(should_arm, should_prearm, mixed, reverse_pwm_mask, r_page_servo_disarmed, r_page_servo_control_min,
r_page_servo_control_max, outputs, r_page_servos, &pwm_limit);
@@ -508,7 +508,7 @@ bool MixerTest::mixerTest()
while (hrt_elapsed_time(&starttime) < 600000) {
/* mix */
mixed = mixer_group.mix(&outputs[0], output_max, nullptr);
mixed = mixer_group.mix(&outputs[0], output_max);
pwm_limit_calc(should_arm, should_prearm, mixed, reverse_pwm_mask, r_page_servo_disarmed, r_page_servo_control_min,
r_page_servo_control_max, outputs, r_page_servos, &pwm_limit);
@@ -545,7 +545,7 @@ bool MixerTest::mixerTest()
while (hrt_elapsed_time(&starttime) < 600000 + RAMP_TIME_US) {
/* mix */
mixed = mixer_group.mix(&outputs[0], output_max, nullptr);
mixed = mixer_group.mix(&outputs[0], output_max);
pwm_limit_calc(should_arm, should_prearm, mixed, reverse_pwm_mask, r_page_servo_disarmed, r_page_servo_control_min,
r_page_servo_control_max, outputs, r_page_servos, &pwm_limit);