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motor_ramp: add documentation

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This commit is contained in:
Beat Küng 2017-05-04 16:40:19 +02:00
parent 3a880a09d6
commit 4839ed8498
1 changed files with 29 additions and 13 deletions
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42
src/systemcmds/motor_ramp/motor_ramp.cpp
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@ -33,7 +33,6 @@
/**
* @file motor_ramp.cpp
* Application to test motor ramp up.
*
* @author Andreas Antener <andreas@uaventure.com>
* @author Roman Bapst <bapstroman@gmail.com>
@ -41,6 +40,7 @@
#include <px4_config.h>
#include <px4_defines.h>
#include <px4_module.h>
#include <px4_tasks.h>
#include <px4_posix.h>
#include <stdio.h>
@ -113,14 +113,30 @@ usage(const char *reason)
PX4_ERR("%s", reason);
}
PX4_WARN("\n\nWARNING: motors will ramp up to full speed!\n\n"
"Usage: motor_ramp <mode> <min_pwm> <time> [<max_pwm>]\n"
"<mode> can be one of (ramp|sine|square)\n\n"
"Example:\n"
"sdlog2 on\n"
"mc_att_control stop\n"
"fw_att_control stop\n"
"motor_ramp sine 1100 0.5\n");
PRINT_MODULE_DESCRIPTION(
R"DESCR_STR(
### Description
Application to test motor ramp up.
Before starting, make sure to stop any running attitude controller:
$ mc_att_control stop
$ fw_att_control stop
When starting, a background task is started, runs for several seconds (as specified), then exits.
Note: this command currently only supports the `/dev/pwm_output0` output.
### Example
$ motor_ramp sine 1100 0.5
)DESCR_STR");
PRINT_MODULE_USAGE_NAME_SIMPLE("motor_ramp", "command");
PRINT_MODULE_USAGE_ARG("ramp|sine|square", "mode", false);
PRINT_MODULE_USAGE_ARG("<min_pwm> <time> [<max_pwm>]", "pwm value in us, time in sec", false);
PRINT_MODULE_USAGE_PARAM_COMMENT("WARNING: motors will ramp up to full speed!");
}
/**
@ -341,7 +357,7 @@ int motor_ramp_thread_main(int argc, char *argv[])
switch (ramp_state) {
case RAMP_INIT: {
PX4_WARN("setting pwm min: %d", _min_pwm);
PX4_INFO("setting pwm min: %d", _min_pwm);
set_min_pwm(fd, max_channels, _min_pwm);
ramp_state = RAMP_MIN;
break;
@ -349,7 +365,7 @@ int motor_ramp_thread_main(int argc, char *argv[])
case RAMP_MIN: {
if (timer > 3.0f) {
PX4_WARN("starting %s: %.2f sec", _mode_c, (double)_ramp_time);
PX4_INFO("starting %s: %.2f sec", _mode_c, (double)_ramp_time);
start = hrt_absolute_time();
ramp_state = RAMP_RAMP;
}
@ -376,7 +392,7 @@ int motor_ramp_thread_main(int argc, char *argv[])
output = _mode != RAMP ? output : 1.0f;
start = hrt_absolute_time();
ramp_state = RAMP_WAIT;
PX4_WARN("%s finished, waiting", _mode_c);
PX4_INFO("%s finished, waiting", _mode_c);
}
set_out(fd, max_channels, output);
@ -386,7 +402,7 @@ int motor_ramp_thread_main(int argc, char *argv[])
case RAMP_WAIT: {
if (timer > 0.5f) {
_thread_should_exit = true;
PX4_WARN("stopping");
PX4_INFO("stopping");
break;
}