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motor_test: Use 1-based motor indexing.

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Motors in Px4 ecosystem are indexed using 1-based indexing (Airframe reference, dshot command, etc.) motor_test command is 0-based. This PR changes motor_test to use 1-based indexing.

This PR refers to Github issue #15721.
This commit is contained in:
justas-
2020-09-27 19:35:25 +00:00
committed by Beat Küng
parent ec7108892b
commit bb77f55f7b
1 changed files with 5 additions and 4 deletions
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src/systemcmds/motor_test/motor_test.cpp
+5 -4
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@@ -68,7 +68,8 @@ void motor_test(unsigned channel, float value, uint8_t driver_instance, int time
PX4_INFO("motors stop command sent"); PX4_INFO("motors stop command sent");
} else { } else {
PX4_INFO("motor %d set to %.2f", channel, (double)value); /* Adjust for 1-based motor indexing */
PX4_INFO("motor %d set to %.2f", channel + 1, (double)value);
} }
} }
@@ -87,7 +88,7 @@ WARNING: remove all props before using this command.
PRINT_MODULE_USAGE_NAME("motor_test", "command"); PRINT_MODULE_USAGE_NAME("motor_test", "command");
PRINT_MODULE_USAGE_COMMAND_DESCR("test", "Set motor(s) to a specific output value"); PRINT_MODULE_USAGE_COMMAND_DESCR("test", "Set motor(s) to a specific output value");
PRINT_MODULE_USAGE_PARAM_INT('m', -1, 0, 7, "Motor to test (0...7, all if not specified)", true); PRINT_MODULE_USAGE_PARAM_INT('m', -1, 1, 8, "Motor to test (1...8, all if not specified)", true);
PRINT_MODULE_USAGE_PARAM_INT('p', 0, 0, 100, "Power (0...100)", true); PRINT_MODULE_USAGE_PARAM_INT('p', 0, 0, 100, "Power (0...100)", true);
PRINT_MODULE_USAGE_PARAM_INT('t', 0, 0, 100, "Timeout in seconds (default=no timeout)", true); PRINT_MODULE_USAGE_PARAM_INT('t', 0, 0, 100, "Timeout in seconds (default=no timeout)", true);
PRINT_MODULE_USAGE_PARAM_INT('i', 0, 0, 4, "driver instance", true); PRINT_MODULE_USAGE_PARAM_INT('i', 0, 0, 4, "driver instance", true);
@@ -116,8 +117,8 @@ int motor_test_main(int argc, char *argv[])
break; break;
case 'm': case 'm':
/* Read in motor number */ /* Read in motor number and adjust for 1-based indexing */
channel = (int)strtol(myoptarg, nullptr, 0); channel = (int)strtol(myoptarg, nullptr, 0) - 1;
break; break;
case 'p': case 'p':