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esc_calib: add documentation

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Beat Küng
2017-05-04 16:38:36 +02:00
parent 0fdd2b9fea
commit 6b99b3412e
1 changed files with 18 additions and 12 deletions
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src/systemcmds/esc_calib/esc_calib.c
+18 -12
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@@ -34,12 +34,11 @@
/**
* @file esc_calib.c
*
* Tool for ESC calibration
*/
#include <px4_config.h>
#include <px4_getopt.h>
#include <px4_module.h>
#include <px4_defines.h>
#include <px4_log.h>
@@ -71,16 +70,23 @@ usage(const char *reason)
PX4_ERR("%s", reason);
}
PX4_ERR(
"usage:\n"
"esc_calib\n"
" [-d <device> PWM output device (defaults to " PWM_OUTPUT0_DEVICE_PATH ")\n"
" [-l <pwm> Low PWM value in us (default: %dus)\n"
" [-h <pwm> High PWM value in us (default: %dus)\n"
" [-c <channels>] Supply channels (e.g. 1234)\n"
" [-m <chanmask> ] Directly supply channel mask (e.g. 0xF)\n"
" [-a] Use all outputs\n"
, PWM_DEFAULT_MIN, PWM_DEFAULT_MAX);
PRINT_MODULE_DESCRIPTION("Tool for ESC calibration\n"
"\n"
"Calibration procedure (running the command will guide you through it):\n"
"- Remove props, power off the ESC's\n"
"- Stop attitude controllers: mc_att_control stop, fw_att_control stop\n"
"- Make sure safety is off\n"
"- Run this command\n"
);
PRINT_MODULE_USAGE_NAME_SIMPLE("esc_calib", "command");
PRINT_MODULE_USAGE_PARAM_STRING('d', "/dev/pwm_output0", "<file:dev>", "Select PWM output device", true);
PRINT_MODULE_USAGE_PARAM_INT('l', 1000, 0, 3000, "Low PWM value in us", true);
PRINT_MODULE_USAGE_PARAM_INT('h', 2000, 0, 3000, "High PWM value in us", true);
PRINT_MODULE_USAGE_PARAM_STRING('c', NULL, NULL, "select channels in the form: 1234 (1 digit per channel, 1=first)",
true);
PRINT_MODULE_USAGE_PARAM_INT('m', 0, 0, 4096, "Select channels via bitmask (eg. 0xF, 3)", true);
PRINT_MODULE_USAGE_PARAM_FLAG('a', "Select all channels", true);
}
int