Mirrors_Framework/PX4-Autopilot
1
0
Fork 0
mirror of https://github.com/PX4/PX4-Autopilot.git synced 2026-05-28 10:46:33 +08:00
Code Issues Actions 27 Packages Projects Releases Wiki Activity

refactor(commander): remove unused parameter COM_MOT_TEST_EN

Browse Source
This commit is contained in:
Matthias Grob
2026-03-17 16:34:34 +01:00
committed by Jacob Dahl
parent 9a5034b187
commit 09cb22f799
5 changed files with 0 additions and 18 deletions
Download Patch File Download Diff File Expand all files Collapse all files
docs/assets/airframes/multicopter/amovlab_f410/amovlabf410_drone_v1.15.4.params
-1
View File
@@ -310,7 +310,6 @@
1 1 COM_IMB_PROP_ACT 0 6 1 1 COM_IMB_PROP_ACT 0 6
1 1 COM_LKDOWN_TKO 3.000000000000000000 9 1 1 COM_LKDOWN_TKO 3.000000000000000000 9
1 1 COM_LOW_BAT_ACT 0 6 1 1 COM_LOW_BAT_ACT 0 6
1 1 COM_MOT_TEST_EN 1 6
1 1 COM_OBC_LOSS_T 5.000000000000000000 9 1 1 COM_OBC_LOSS_T 5.000000000000000000 9
1 1 COM_OBL_RC_ACT 0 6 1 1 COM_OBL_RC_ACT 0 6
1 1 COM_OBS_AVOID 0 6 1 1 COM_OBS_AVOID 0 6
docs/en/config/actuators.md
-1
View File
@@ -660,7 +660,6 @@ For each of the tilt servos:
- If a safety button is used, it must be pressed before actuator testing is allowed. - If a safety button is used, it must be pressed before actuator testing is allowed.
- The kill-switch can still be used to stop motors immediately. - The kill-switch can still be used to stop motors immediately.
- Servos do not actually move until the corresponding slider is changed. - Servos do not actually move until the corresponding slider is changed.
- The parameter [COM_MOT_TEST_EN](../advanced_config/parameter_reference.md#COM_MOT_TEST_EN) can be used to completely disable actuator testing.
- On the shell, [actuator_test](../modules/modules_command.md#actuator-test) can be used as well for actuator testing. - On the shell, [actuator_test](../modules/modules_command.md#actuator-test) can be used as well for actuator testing.
- VTOLs will automatically turn off motors pointing upwards during **fixed-wing flight**: - VTOLs will automatically turn off motors pointing upwards during **fixed-wing flight**:
- Standard VTOL : Motors defined as multicopter motors will be turned off - Standard VTOL : Motors defined as multicopter motors will be turned off
src/modules/commander/Commander.cpp
-4
View File
@@ -1671,10 +1671,6 @@ unsigned Commander::handleCommandActuatorTest(const vehicle_command_s &cmd)
return vehicle_command_ack_s::VEHICLE_CMD_RESULT_DENIED; return vehicle_command_ack_s::VEHICLE_CMD_RESULT_DENIED;
} }
if (_param_com_mot_test_en.get() != 1) {
return vehicle_command_ack_s::VEHICLE_CMD_RESULT_DENIED;
}
actuator_test_s actuator_test{}; actuator_test_s actuator_test{};
actuator_test.timestamp = hrt_absolute_time(); actuator_test.timestamp = hrt_absolute_time();
actuator_test.function = static_cast<int>(lroundf(cmd.param5)); actuator_test.function = static_cast<int>(lroundf(cmd.param5));
src/modules/commander/Commander.hpp
-1
View File
@@ -343,7 +343,6 @@ private:
(ParamBool<px4::params::COM_HOME_EN>) _param_com_home_en, (ParamBool<px4::params::COM_HOME_EN>) _param_com_home_en,
(ParamBool<px4::params::COM_HOME_IN_AIR>) _param_com_home_in_air, (ParamBool<px4::params::COM_HOME_IN_AIR>) _param_com_home_in_air,
(ParamBool<px4::params::COM_FORCE_SAFETY>) _param_com_force_safety, (ParamBool<px4::params::COM_FORCE_SAFETY>) _param_com_force_safety,
(ParamBool<px4::params::COM_MOT_TEST_EN>) _param_com_mot_test_en,
(ParamFloat<px4::params::COM_OBC_LOSS_T>) _param_com_obc_loss_t, (ParamFloat<px4::params::COM_OBC_LOSS_T>) _param_com_obc_loss_t,
(ParamInt<px4::params::COM_PREARM_MODE>) _param_com_prearm_mode, (ParamInt<px4::params::COM_PREARM_MODE>) _param_com_prearm_mode,
(ParamInt<px4::params::COM_RC_OVERRIDE>) _param_com_rc_override, (ParamInt<px4::params::COM_RC_OVERRIDE>) _param_com_rc_override,
src/modules/commander/commander_params.c
-11
View File
@@ -699,17 +699,6 @@ PARAM_DEFINE_INT32(COM_PREARM_MODE, 0);
*/ */
PARAM_DEFINE_INT32(COM_FORCE_SAFETY, 0); PARAM_DEFINE_INT32(COM_FORCE_SAFETY, 0);
/**
* Enable Actuator Testing
*
* If set, enables the actuator test interface via MAVLink (ACTUATOR_TEST), that
* allows spinning the motors and moving the servos for testing purposes.
*
* @boolean
* @group Commander
*/
PARAM_DEFINE_INT32(COM_MOT_TEST_EN, 1);
/** /**
* Maximum allowed CPU load to still arm. * Maximum allowed CPU load to still arm.
* *