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commander: add support for DO_MOTOR_TEST

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- add an optional timeout to test_motor
- enforce a timeout when receiving DO_MOTOR_TEST
- limitation: DO_MOTOR_TEST can only control the MAIN outputs
This commit is contained in:
Beat Küng
2019-10-21 12:12:07 +02:00
parent eb6a9bd488
commit 285ae608a5
7 changed files with 91 additions and 14 deletions
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msg/test_motor.msg
+5 -4
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@@ -1,12 +1,13 @@
uint64 timestamp # time since system start (microseconds)
uint8 NUM_MOTOR_OUTPUTS = 8
uint8 ACTION_STOP = 0 # stop motors (disable motor test mode)
uint8 ACTION_RUN = 1 # run motors (enable motor test mode)
uint8 ACTION_STOP = 0 # stop all motors (disable motor test mode)
uint8 ACTION_RUN = 1 # run motor(s) (enable motor test mode)
uint8 action # one of ACTION_* (applies to all motors)
uint32 motor_number # number of motor to spin
float32 value # output power, range [0..1]
uint32 motor_number # number of motor to spin [0..N-1]
float32 value # output power, range [0..1], -1 to stop individual motor
uint32 timeout_ms # timeout in ms after which to exit test mode (if 0, do not time out)
uint8 driver_instance # select output driver (for boards with multiple outputs, like IO+FMU)