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feat(commander): add actuator_group_test command to test actuators

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- control surfaces default to +1, thrust to +/-0.1 if no argument given
   or parsing fails
This commit is contained in:
Balduin
2026-05-05 11:51:49 +02:00
parent 84fb8fab92
commit 3494754e5d
1 changed files with 57 additions and 0 deletions
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src/modules/commander/Commander.cpp
+57
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@@ -346,6 +346,60 @@ int Commander::custom_command(int argc, char *argv[])
return 0;
}
if (!strcmp(argv[0], "actuator_group_test")) {
if (argc < 2) {
PX4_ERR("missing argument");
return 1;
}
uint8_t group;
float value = 1.f;
if (!strcmp(argv[1], "roll")) {
group = vehicle_command_s::ACTUATOR_TEST_GROUP_ROLL_TORQUE;
} else if (!strcmp(argv[1], "pitch")) {
group = vehicle_command_s::ACTUATOR_TEST_GROUP_PITCH_TORQUE;
} else if (!strcmp(argv[1], "yaw")) {
group = vehicle_command_s::ACTUATOR_TEST_GROUP_YAW_TORQUE;
} else if (!strcmp(argv[1], "tilt")) {
group = vehicle_command_s::ACTUATOR_TEST_GROUP_COLLECTIVE_TILT;
} else if (!strcmp(argv[1], "xthrust")) {
group = vehicle_command_s::ACTUATOR_TEST_GROUP_X_THRUST;
value = 0.1f; // For thrust use a lower default to avoid unintended takeoffs
} else if (!strcmp(argv[1], "ythrust")) {
group = vehicle_command_s::ACTUATOR_TEST_GROUP_Y_THRUST;
value = 0.1f;
} else if (!strcmp(argv[1], "zthrust")) {
group = vehicle_command_s::ACTUATOR_TEST_GROUP_Z_THRUST;
value = -0.1f;
} else {
PX4_ERR("argument %s unsupported.", argv[1]);
return 1;
}
if (argc > 2) {
char *end;
const float user_value = strtof(argv[2], &end);
if (*end == '\0' && PX4_ISFINITE(user_value)) {
value = user_value;
} else {
PX4_WARN("actuator_group_test: value \"%s\" is invalid. Using default %.1f", argv[2], (double) value);
}
}
send_vehicle_command(vehicle_command_s::VEHICLE_CMD_ACTUATOR_GROUP_TEST, group, value);
return 0;
}
if (!strcmp(argv[0], "arm")) {
float param2 = 0.f;
@@ -3152,6 +3206,9 @@ The commander module contains the state machine for mode switching and failsafe
PRINT_MODULE_USAGE_COMMAND_DESCR("check", "Run preflight checks");
PRINT_MODULE_USAGE_COMMAND_DESCR("safety", "Change prearm safety state");
PRINT_MODULE_USAGE_ARG("on|off", "[on] to activate safety, [off] to deactivate safety and allow control surface movements", false);
PRINT_MODULE_USAGE_COMMAND_DESCR("actuator_group_test", "Drive a functional actuator group (torque/thrust/tilt) for a brief preflight check");
PRINT_MODULE_USAGE_ARG("roll|pitch|yaw|tilt|xthrust|ythrust|zthrust", "Group", false);
PRINT_MODULE_USAGE_ARG("value", "Normalized command [-1.0, +1.0]; default 1.0 for torque/tilt, 0.1 for thrust", true);
PRINT_MODULE_USAGE_COMMAND("arm");
PRINT_MODULE_USAGE_PARAM_FLAG('f', "Force arming (do not run preflight checks)", true);
PRINT_MODULE_USAGE_COMMAND("disarm");