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pwm_out: delete fake() test command

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- we have better motor test facilities these days
This commit is contained in:
Daniel Agar
2020-03-31 19:12:31 -04:00
parent ca81175b07
commit 2e2b9a97d3
2 changed files with 0 additions and 50 deletions
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src/drivers/pwm_out/PWMOut.cpp
-48
View File
@@ -1802,48 +1802,6 @@ err_out_no_test:
return rv; return rv;
} }
int PWMOut::fake(int argc, char *argv[])
{
if (argc < 5) {
print_usage("not enough arguments");
return -1;
}
actuator_controls_s ac;
ac.control[0] = strtol(argv[1], 0, 0) / 100.0f;
ac.control[1] = strtol(argv[2], 0, 0) / 100.0f;
ac.control[2] = strtol(argv[3], 0, 0) / 100.0f;
ac.control[3] = strtol(argv[4], 0, 0) / 100.0f;
orb_advert_t handle = orb_advertise(ORB_ID_VEHICLE_ATTITUDE_CONTROLS, &ac);
if (handle == nullptr) {
PX4_ERR("advertise failed");
return -1;
}
orb_unadvertise(handle);
actuator_armed_s aa;
aa.armed = true;
aa.lockdown = false;
handle = orb_advertise(ORB_ID(actuator_armed), &aa);
if (handle == nullptr) {
PX4_ERR("advertise failed 2");
return -1;
}
orb_unadvertise(handle);
return 0;
}
int PWMOut::custom_command(int argc, char *argv[]) int PWMOut::custom_command(int argc, char *argv[])
{ {
PortMode new_mode = PORT_MODE_UNSET; PortMode new_mode = PORT_MODE_UNSET;
@@ -1983,10 +1941,6 @@ int PWMOut::custom_command(int argc, char *argv[])
return test(); return test();
} }
if (!strcmp(verb, "fake")) {
return fake(argc - 1, argv + 1);
}
return print_usage("unknown command"); return print_usage("unknown command");
} }
@@ -2115,8 +2069,6 @@ mixer files.
PRINT_MODULE_USAGE_ARG("<bus_id> <rate>", "Specify the bus id (>=0) and rate in Hz", false); PRINT_MODULE_USAGE_ARG("<bus_id> <rate>", "Specify the bus id (>=0) and rate in Hz", false);
PRINT_MODULE_USAGE_COMMAND_DESCR("test", "Test inputs and outputs"); PRINT_MODULE_USAGE_COMMAND_DESCR("test", "Test inputs and outputs");
PRINT_MODULE_USAGE_COMMAND_DESCR("fake", "Arm and send an actuator controls command");
PRINT_MODULE_USAGE_ARG("<roll> <pitch> <yaw> <thrust>", "Control values in range [-100, 100]", false);
PRINT_MODULE_USAGE_DEFAULT_COMMANDS(); PRINT_MODULE_USAGE_DEFAULT_COMMANDS();
return 0; return 0;
src/drivers/pwm_out/PWMOut.hpp
-2
View File
@@ -135,8 +135,6 @@ public:
static int test(); static int test();
static int fake(int argc, char *argv[]);
virtual int ioctl(file *filp, int cmd, unsigned long arg); virtual int ioctl(file *filp, int cmd, unsigned long arg);
virtual int init(); virtual int init();