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delete systemcmds/motor_test and msg/test_motor.msg

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This commit is contained in:
Daniel Agar
2022-09-09 09:14:09 -04:00
parent 72efe84b80
commit bcdd2203d3
50 changed files with 1 additions and 427 deletions
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src/lib/mixer_module/mixer_module.cpp
-62
View File
@@ -401,68 +401,6 @@ void MixingOutput::unregister()
}
}
unsigned MixingOutput::motorTest()
{
test_motor_s test_motor;
bool had_update = false;
while (_motor_test.test_motor_sub.update(&test_motor)) {
if (test_motor.driver_instance != 0 ||
test_motor.timestamp == 0 ||
hrt_elapsed_time(&test_motor.timestamp) > 100_ms) {
continue;
}
bool in_test_mode = test_motor.action == test_motor_s::ACTION_RUN;
if (in_test_mode != _motor_test.in_test_mode) {
// reset all outputs to disarmed on state change
for (int i = 0; i < MAX_ACTUATORS; ++i) {
_current_output_value[i] = _disarmed_value[i];
}
}
if (in_test_mode) {
int idx = test_motor.motor_number;
if (idx < MAX_ACTUATORS) {
if (test_motor.value < 0.f) {
_current_output_value[idx] = _disarmed_value[idx];
} else {
_current_output_value[idx] =
math::constrain<uint16_t>(_min_value[idx] + (uint16_t)((_max_value[idx] - _min_value[idx]) * test_motor.value),
_min_value[idx], _max_value[idx]);
}
}
if (test_motor.timeout_ms > 0) {
_motor_test.timeout = test_motor.timestamp + test_motor.timeout_ms * 1000;
} else {
_motor_test.timeout = 0;
}
}
_motor_test.in_test_mode = in_test_mode;
had_update = true;
}
// check for timeouts
if (_motor_test.timeout != 0 && hrt_absolute_time() > _motor_test.timeout) {
_motor_test.in_test_mode = false;
_motor_test.timeout = 0;
for (int i = 0; i < MAX_ACTUATORS; ++i) {
_current_output_value[i] = _disarmed_value[i];
}
had_update = true;
}
return (_motor_test.in_test_mode || had_update) ? _max_num_outputs : 0;
}
bool MixingOutput::update()
{
// check arming state
src/lib/mixer_module/mixer_module.hpp
-10
View File
@@ -58,7 +58,6 @@
#include <uORB/topics/actuator_armed.h>
#include <uORB/topics/actuator_outputs.h>
#include <uORB/topics/parameter_update.h>
#include <uORB/topics/test_motor.h>
using namespace time_literals;
@@ -213,8 +212,6 @@ private:
return (_armed.prearmed && !_armed.armed) || _armed.in_esc_calibration_mode;
}
unsigned motorTest();
void setAndPublishActuatorOutputs(unsigned num_outputs, actuator_outputs_s &actuator_outputs);
void publishMixerStatus(const actuator_outputs_s &actuator_outputs);
void updateLatencyPerfCounter(const actuator_outputs_s &actuator_outputs);
@@ -276,13 +273,6 @@ private:
bool _wq_switched{false};
uint8_t _max_num_outputs;
struct MotorTest {
uORB::Subscription test_motor_sub{ORB_ID(test_motor)};
bool in_test_mode{false};
hrt_abstime timeout{0};
};
MotorTest _motor_test;
OutputModuleInterface &_interface;
perf_counter_t _control_latency_perf;