fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-11-13 21:11:36 +08:00
Code Issues Packages Projects Releases Wiki Activity

commander: add support for DO_MOTOR_TEST

Browse Source 
- add an optional timeout to test_motor
- enforce a timeout when receiving DO_MOTOR_TEST
- limitation: DO_MOTOR_TEST can only control the MAIN outputs
This commit is contained in:
Beat Küng
2019-10-24 09:27:29 +02:00
parent eb6a9bd488
commit 285ae608a5
7 changed files with 91 additions and 14 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/modules/commander/Commander.hpp
+4
View File
@@ -52,6 +52,7 @@
#include <uORB/topics/vehicle_control_mode.h>
#include <uORB/topics/vehicle_status.h>
#include <uORB/topics/vehicle_status_flags.h>
#include <uORB/topics/test_motor.h>
// subscriptions
#include <uORB/Subscription.hpp>
@@ -205,6 +206,8 @@ private:
bool handle_command(vehicle_status_s *status, const vehicle_command_s &cmd, actuator_armed_s *armed,
uORB::PublicationQueued<vehicle_command_ack_s> &command_ack_pub, bool *changed);
unsigned handle_command_motor_test(const vehicle_command_s &cmd);
bool set_home_position();
bool set_home_position_alt_only();
@@ -291,6 +294,7 @@ private:
uORB::Publication<actuator_armed_s> _armed_pub{ORB_ID(actuator_armed)};
uORB::Publication<commander_state_s> _commander_state_pub{ORB_ID(commander_state)};
uORB::Publication<vehicle_status_flags_s> _vehicle_status_flags_pub{ORB_ID(vehicle_status_flags)};
uORB::Publication<test_motor_s> _test_motor_pub{ORB_ID(test_motor)};
uORB::PublicationData<home_position_s> _home_pub{ORB_ID(home_position)};