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remove examples/hwtest

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Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
This commit is contained in:
Silvan Fuhrer
2022-12-29 14:01:59 +01:00
committed by Daniel Agar
parent 3e4e5c991c
commit 348dcf11c8
3 changed files with 0 additions and 171 deletions
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src/examples/hwtest/CMakeLists.txt
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@@ -1,39 +0,0 @@
############################################################################
#
# Copyright (c) 2015 PX4 Development Team. All rights reserved.
#
# Redistribution and use in source and binary forms, with or without
# modification, are permitted provided that the following conditions
# are met:
#
# 1. Redistributions of source code must retain the above copyright
# notice, this list of conditions and the following disclaimer.
# 2. Redistributions in binary form must reproduce the above copyright
# notice, this list of conditions and the following disclaimer in
# the documentation and/or other materials provided with the
# distribution.
# 3. Neither the name PX4 nor the names of its contributors may be
# used to endorse or promote products derived from this software
# without specific prior written permission.
#
# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
# POSSIBILITY OF SUCH DAMAGE.
#
############################################################################
px4_add_module(
MODULE examples__hwtest
MAIN ex_hwtest
SRCS
hwtest.c
DEPENDS
)
src/examples/hwtest/Kconfig
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menuconfig EXAMPLES_HWTEST
bool "hwtest"
default n
---help---
Enable support for hwtest
src/examples/hwtest/hwtest.c
-127
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/****************************************************************************
*
* Copyright (c) 2013, 2014 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
/**
* @file hwtest.c
*
* Simple output test.
*
* @author Lorenz Meier <lm@inf.ethz.ch>
*/
#include <stdio.h>
#include <string.h>
#include <drivers/drv_hrt.h>
#include <px4_platform_common/px4_config.h>
#include <systemlib/err.h>
#include <uORB/topics/actuator_armed.h>
#include <uORB/topics/actuator_controls.h>
#include <uORB/uORB.h>
__EXPORT int ex_hwtest_main(int argc, char *argv[]);
int ex_hwtest_main(int argc, char *argv[])
{
warnx("DO NOT FORGET TO STOP THE DEFAULT CONTROL APPS!");
warnx("(run <commander stop>,)");
warnx("( <mc_rate_control stop> and)");
warnx("( <fw_att_control stop> to do so)");
warnx("usage: http://px4.io/dev/examples/write_output");
struct actuator_controls_s actuators;
memset(&actuators, 0, sizeof(actuators));
orb_advert_t actuator_pub_ptr = orb_advertise(ORB_ID(actuator_controls_0), &actuators);
struct actuator_armed_s arm;
memset(&arm, 0, sizeof(arm));
arm.timestamp = hrt_absolute_time();
arm.ready_to_arm = true;
arm.armed = true;
orb_advert_t arm_pub_ptr = orb_advertise(ORB_ID(actuator_armed), &arm);
orb_publish(ORB_ID(actuator_armed), arm_pub_ptr, &arm);
/* read back values to validate */
int arm_sub_fd = orb_subscribe(ORB_ID(actuator_armed));
orb_copy(ORB_ID(actuator_armed), arm_sub_fd, &arm);
if (arm.ready_to_arm && arm.armed) {
warnx("Actuator armed");
} else {
errx(1, "Arming actuators failed");
}
hrt_abstime stime;
int count = 0;
while (count != 36) {
stime = hrt_absolute_time();
while (hrt_absolute_time() - stime < 1000000) {
for (int i = 0; i != 2; i++) {
if (count <= 5) {
actuators.control[i] = -1.0f;
} else if (count <= 10) {
actuators.control[i] = -0.7f;
} else if (count <= 15) {
actuators.control[i] = -0.5f;
} else if (count <= 20) {
actuators.control[i] = -0.3f;
} else if (count <= 25) {
actuators.control[i] = 0.0f;
} else if (count <= 30) {
actuators.control[i] = 0.3f;
} else {
actuators.control[i] = 0.5f;
}
}
actuators.timestamp = hrt_absolute_time();
orb_publish(ORB_ID(actuator_controls_0), actuator_pub_ptr, &actuators);
usleep(10000);
}
warnx("count %i", count);
count++;
}
return OK;
}