Mirrors_Framework/PX4-Autopilot
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added warning, set hold time to 1 sec

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This commit is contained in:
Andreas Antener
2016-04-14 11:43:04 +02:00
parent a7834693e8
commit 7c76c7c25a
1 changed files with 7 additions and 6 deletions
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src/systemcmds/motor_ramp/motor_ramp.cpp
+7 -6
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@@ -98,11 +98,12 @@ static void
usage(const char *reason)
{
if (reason) {
PX4_WARN("[motor_ramp] %s", reason);
PX4_ERR("[motor_ramp] %s", reason);
}
PX4_WARN("[motor_ramp]\n\nWARNING: motors will ramp up to full speed!\n");
PX4_WARN("[motor_ramp] usage: motor_ramp <min_pwm> <ramp_time>");
PX4_WARN("[motor_ramp] example:\n");
PX4_WARN("[motor_ramp] example:");
PX4_WARN("[motor_ramp] nsh> sdlog2 on");
PX4_WARN("[motor_ramp] nsh> mc_att_control stop");
PX4_WARN("[motor_ramp] nsh> motor_ramp 1100 0.5\n");
@@ -250,7 +251,7 @@ int motor_ramp_thread_main(int argc, char *argv[])
_thread_should_exit = true;
}
PX4_WARN("[motor_ramp] max chan %d", max_channels);
PX4_WARN("[motor_ramp] max chan: %d", max_channels);
set_out(fd, max_channels, 0.0f);
@@ -275,7 +276,7 @@ int motor_ramp_thread_main(int argc, char *argv[])
switch (ramp_state) {
case RAMP_INIT: {
PX4_WARN("[motor_ramp] setting pwm min %d", _min_pwm);
PX4_WARN("[motor_ramp] setting pwm min: %d", _min_pwm);
set_min_pwm(fd, max_channels, _min_pwm);
ramp_state = RAMP_MIN;
break;
@@ -283,7 +284,7 @@ int motor_ramp_thread_main(int argc, char *argv[])
case RAMP_MIN: {
if (timer > 3.0f) {
PX4_WARN("[motor_ramp] starting ramp");
PX4_WARN("[motor_ramp] starting ramp: %.2f sec", (double)_ramp_time);
start = hrt_absolute_time();
ramp_state = RAMP_RAMP;
}
@@ -307,7 +308,7 @@ int motor_ramp_thread_main(int argc, char *argv[])
}
case RAMP_WAIT: {
if (timer > 2.0f) {
if (timer > 1.0f) {
_thread_should_exit = true;
break;
}