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125 lines
3.8 KiB
C
125 lines
3.8 KiB
C
/****************************************************************************
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*
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* Copyright (c) 2013, 2014 PX4 Development Team. All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the name PX4 nor the names of its contributors may be
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* used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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/**
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* @file hwtest.c
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*
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* Simple output test.
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* @ref Documentation https://pixhawk.org/dev/examples/write_output
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*
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* @author Lorenz Meier <lm@inf.ethz.ch>
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*/
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#include <nuttx/config.h>
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#include <stdio.h>
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#include <systemlib/err.h>
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#include <drivers/drv_hrt.h>
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#include <uORB/uORB.h>
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#include <uORB/topics/actuator_controls.h>
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#include <uORB/topics/actuator_armed.h>
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__EXPORT int ex_hwtest_main(int argc, char *argv[]);
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int ex_hwtest_main(int argc, char *argv[])
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{
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warnx("DO NOT FORGET TO STOP THE COMMANDER APP!");
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warnx("(run <commander stop> to do so)");
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warnx("usage: http://px4.io/dev/examples/write_output");
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struct actuator_controls_s actuators;
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memset(&actuators, 0, sizeof(actuators));
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orb_advert_t actuator_pub_fd = orb_advertise(ORB_ID(actuator_controls_0), &actuators);
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struct actuator_armed_s arm;
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memset(&arm, 0 , sizeof(arm));
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arm.timestamp = hrt_absolute_time();
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arm.ready_to_arm = true;
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arm.armed = true;
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orb_advert_t arm_pub_fd = orb_advertise(ORB_ID(actuator_armed), &arm);
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orb_publish(ORB_ID(actuator_armed), arm_pub_fd, &arm);
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/* read back values to validate */
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int arm_sub_fd = orb_subscribe(ORB_ID(actuator_armed));
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orb_copy(ORB_ID(actuator_armed), arm_sub_fd, &arm);
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if (arm.ready_to_arm && arm.armed) {
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warnx("Actuator armed");
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} else {
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errx(1, "Arming actuators failed");
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}
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hrt_abstime stime;
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int count = 0;
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while (count != 36) {
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stime = hrt_absolute_time();
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while (hrt_absolute_time() - stime < 1000000) {
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for (int i = 0; i != 2; i++) {
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if (count <= 5) {
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actuators.control[i] = -1.0f;
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} else if (count <= 10) {
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actuators.control[i] = -0.7f;
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} else if (count <= 15) {
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actuators.control[i] = -0.5f;
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} else if (count <= 20) {
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actuators.control[i] = -0.3f;
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} else if (count <= 25) {
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actuators.control[i] = 0.0f;
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} else if (count <= 30) {
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actuators.control[i] = 0.3f;
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} else {
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actuators.control[i] = 0.5f;
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}
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}
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actuators.timestamp = hrt_absolute_time();
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orb_publish(ORB_ID(actuator_controls_0), actuator_pub_fd, &actuators);
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usleep(10000);
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}
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warnx("count %i", count);
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count++;
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}
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return OK;
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}
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