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pwm:Use test mode in steps command

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This commit is contained in:
David Sidrane
2018-09-13 08:45:36 +02:00
committed by Lorenz Meier
parent 49f1540c30
commit 945a532260
1 changed files with 11 additions and 4 deletions
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src/systemcmds/pwm/pwm.cpp
+11 -4
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@@ -779,6 +779,11 @@ err_out_no_test:
PX4_WARN("Running 5 steps. WARNING! Motors will be live in 5 seconds\nPress any key to abort now."); PX4_WARN("Running 5 steps. WARNING! Motors will be live in 5 seconds\nPress any key to abort now.");
sleep(5); sleep(5);
if (::ioctl(fd, PWM_SERVO_SET_MODE, PWM_SERVO_ENTER_TEST_MODE) < 0) {
PX4_ERR("Failed to Enter pwm test mode");
goto err_out_no_test;
}
unsigned off = 900; unsigned off = 900;
unsigned idle = 1300; unsigned idle = 1300;
unsigned full = 2000; unsigned full = 2000;
@@ -815,7 +820,7 @@ err_out_no_test:
if (ret != OK) { if (ret != OK) {
PX4_ERR("PWM_SERVO_SET(%d)", i); PX4_ERR("PWM_SERVO_SET(%d)", i);
return 1; goto err_out;
} }
} }
} }
@@ -836,13 +841,14 @@ err_out_no_test:
if (ret != OK) { if (ret != OK) {
PX4_ERR("PWM_SERVO_SET(%d)", i); PX4_ERR("PWM_SERVO_SET(%d)", i);
return 1; goto err_out;
} }
} }
} }
PX4_INFO("User abort\n"); PX4_INFO("User abort\n");
return 0; rv = 0;
goto err_out;
} }
} }
@@ -868,7 +874,8 @@ err_out_no_test:
} }
} }
return 0; rv = 0;
goto err_out;
} else if (!strcmp(command, "info")) { } else if (!strcmp(command, "info")) {