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motor_ramp: add documentation

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Beat Küng
2017-07-14 11:57:11 +02:00
parent 3a880a09d6
commit 4839ed8498
1 changed files with 29 additions and 13 deletions
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src/systemcmds/motor_ramp/motor_ramp.cpp
+29 -13
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@@ -33,7 +33,6 @@
/** /**
* @file motor_ramp.cpp * @file motor_ramp.cpp
* Application to test motor ramp up.
* *
* @author Andreas Antener <andreas@uaventure.com> * @author Andreas Antener <andreas@uaventure.com>
* @author Roman Bapst <bapstroman@gmail.com> * @author Roman Bapst <bapstroman@gmail.com>
@@ -41,6 +40,7 @@
#include <px4_config.h> #include <px4_config.h>
#include <px4_defines.h> #include <px4_defines.h>
#include <px4_module.h>
#include <px4_tasks.h> #include <px4_tasks.h>
#include <px4_posix.h> #include <px4_posix.h>
#include <stdio.h> #include <stdio.h>
@@ -113,14 +113,30 @@ usage(const char *reason)
PX4_ERR("%s", reason); PX4_ERR("%s", reason);
} }
PX4_WARN("\n\nWARNING: motors will ramp up to full speed!\n\n" PRINT_MODULE_DESCRIPTION(
"Usage: motor_ramp <mode> <min_pwm> <time> [<max_pwm>]\n" R"DESCR_STR(
"<mode> can be one of (ramp|sine|square)\n\n" ### Description
"Example:\n" Application to test motor ramp up.
"sdlog2 on\n"
"mc_att_control stop\n" Before starting, make sure to stop any running attitude controller:
"fw_att_control stop\n" $ mc_att_control stop
"motor_ramp sine 1100 0.5\n"); $ 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) { switch (ramp_state) {
case RAMP_INIT: { 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); set_min_pwm(fd, max_channels, _min_pwm);
ramp_state = RAMP_MIN; ramp_state = RAMP_MIN;
break; break;
@@ -349,7 +365,7 @@ int motor_ramp_thread_main(int argc, char *argv[])
case RAMP_MIN: { case RAMP_MIN: {
if (timer > 3.0f) { 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(); start = hrt_absolute_time();
ramp_state = RAMP_RAMP; ramp_state = RAMP_RAMP;
} }
@@ -376,7 +392,7 @@ int motor_ramp_thread_main(int argc, char *argv[])
output = _mode != RAMP ? output : 1.0f; output = _mode != RAMP ? output : 1.0f;
start = hrt_absolute_time(); start = hrt_absolute_time();
ramp_state = RAMP_WAIT; ramp_state = RAMP_WAIT;
PX4_WARN("%s finished, waiting", _mode_c); PX4_INFO("%s finished, waiting", _mode_c);
} }
set_out(fd, max_channels, output); set_out(fd, max_channels, output);
@@ -386,7 +402,7 @@ int motor_ramp_thread_main(int argc, char *argv[])
case RAMP_WAIT: { case RAMP_WAIT: {
if (timer > 0.5f) { if (timer > 0.5f) {
_thread_should_exit = true; _thread_should_exit = true;
PX4_WARN("stopping"); PX4_INFO("stopping");
break; break;
} }