commander: add COM_MOT_TEST_EN parameter to enable/disable motor testing

src/modules/commander/Commander.cpp

@@ -1144,6 +1144,10 @@ Commander::handle_command_motor_test(const vehicle_command_s &cmd)
 		return vehicle_command_s::VEHICLE_CMD_RESULT_DENIED;
 	}
 
+	if (_param_com_mot_test_en.get() != 1) {
+		return vehicle_command_s::VEHICLE_CMD_RESULT_DENIED;
+	}
+
 	test_motor_s test_motor{};
 	test_motor.timestamp = hrt_absolute_time();
 	test_motor.motor_number = (int)(cmd.param1 + 0.5f) - 1;

src/modules/commander/Commander.hpp

@@ -147,6 +147,7 @@ private:
 		(ParamInt<px4::params::COM_OBL_RC_ACT>) _param_com_obl_rc_act,
 
 		(ParamInt<px4::params::COM_PREARM_MODE>) _param_com_prearm_mode,
+		(ParamInt<px4::params::COM_MOT_TEST_EN>) _param_com_mot_test_en,
 
 		(ParamInt<px4::params::CBRK_SUPPLY_CHK>) _param_cbrk_supply_chk,
 		(ParamInt<px4::params::CBRK_USB_CHK>) _param_cbrk_usb_chk,

src/modules/commander/commander_params.c

@@ -967,3 +967,14 @@ PARAM_DEFINE_INT32(COM_ARM_CHK_ESCS, 1);
  * @group Commander
  */
 PARAM_DEFINE_INT32(COM_PREARM_MODE, 1);
+
+/**
+ * Enable Motor Testing
+ *
+ * If set, enables the motor test interface via MAVLink (DO_MOTOR_TEST), that
+ * allows spinning the motors for testing purposes.
+ *
+ * @boolean
+ * @group Commander
+ */
+PARAM_DEFINE_INT32(COM_MOT_TEST_EN, 1);