delete PWM_SERVO_SET, PWM_SERVO_SET_MODE, systemcmds/motor_ramp, and pwm_out test

Tools/kconfig/cmake_kconfig_lut.txt

@@ -164,7 +164,6 @@ led_control,CONFIG_SYSTEMCMDS_LED_CONTROL=y
 mft,CONFIG_SYSTEMCMDS_MFT=y
 microbench,CONFIG_SYSTEMCMDS_MICROBENCH=y
 mixer,CONFIG_SYSTEMCMDS_MIXER=y
-motor_ramp,CONFIG_SYSTEMCMDS_MOTOR_RAMP=y
 motor_test,CONFIG_SYSTEMCMDS_MOTOR_TEST=y
 mtd,CONFIG_SYSTEMCMDS_MTD=y
 netman,CONFIG_SYSTEMCMDS_NETMAN=y

boards/airmind/mindpx-v2/default.px4board

@@ -85,7 +85,6 @@ CONFIG_SYSTEMCMDS_I2CDETECT=y
 CONFIG_SYSTEMCMDS_LED_CONTROL=y
 CONFIG_SYSTEMCMDS_MFT=y
 CONFIG_SYSTEMCMDS_MIXER=y
-CONFIG_SYSTEMCMDS_MOTOR_RAMP=y
 CONFIG_SYSTEMCMDS_MOTOR_TEST=y
 CONFIG_SYSTEMCMDS_MTD=y
 CONFIG_SYSTEMCMDS_NSHTERM=y

boards/atl/mantis-edu/default.px4board

@@ -37,7 +37,6 @@ CONFIG_SYSTEMCMDS_DUMPFILE=y
 CONFIG_SYSTEMCMDS_HARDFAULT_LOG=y
 CONFIG_SYSTEMCMDS_LED_CONTROL=y
 CONFIG_SYSTEMCMDS_MIXER=y
-CONFIG_SYSTEMCMDS_MOTOR_RAMP=y
 CONFIG_SYSTEMCMDS_MOTOR_TEST=y
 CONFIG_SYSTEMCMDS_PARAM=y
 CONFIG_SYSTEMCMDS_PERF=y

boards/av/x-v1/default.px4board

@@ -82,7 +82,6 @@ CONFIG_SYSTEMCMDS_HARDFAULT_LOG=y
 CONFIG_SYSTEMCMDS_I2CDETECT=y
 CONFIG_SYSTEMCMDS_LED_CONTROL=y
 CONFIG_SYSTEMCMDS_MIXER=y
-CONFIG_SYSTEMCMDS_MOTOR_RAMP=y
 CONFIG_SYSTEMCMDS_MOTOR_TEST=y
 CONFIG_SYSTEMCMDS_NETMAN=y
 CONFIG_SYSTEMCMDS_NSHTERM=y

boards/beaglebone/blue/default.px4board

@@ -61,7 +61,6 @@ CONFIG_MODULES_VTOL_ATT_CONTROL=y
 CONFIG_SYSTEMCMDS_DYN=y
 CONFIG_SYSTEMCMDS_LED_CONTROL=y
 CONFIG_SYSTEMCMDS_MIXER=y
-CONFIG_SYSTEMCMDS_MOTOR_RAMP=y
 CONFIG_SYSTEMCMDS_MOTOR_TEST=y
 CONFIG_SYSTEMCMDS_PARAM=y
 CONFIG_SYSTEMCMDS_PERF=y

boards/cubepilot/cubeorange/default.px4board

@@ -84,7 +84,6 @@ CONFIG_SYSTEMCMDS_I2CDETECT=y
 CONFIG_SYSTEMCMDS_LED_CONTROL=y
 CONFIG_SYSTEMCMDS_MFT=y
 CONFIG_SYSTEMCMDS_MIXER=y
-CONFIG_SYSTEMCMDS_MOTOR_RAMP=y
 CONFIG_SYSTEMCMDS_MOTOR_TEST=y
 CONFIG_SYSTEMCMDS_MTD=y
 CONFIG_SYSTEMCMDS_NSHTERM=y

boards/cubepilot/cubeyellow/default.px4board

@@ -86,7 +86,6 @@ CONFIG_SYSTEMCMDS_I2CDETECT=y
 CONFIG_SYSTEMCMDS_LED_CONTROL=y
 CONFIG_SYSTEMCMDS_MFT=y
 CONFIG_SYSTEMCMDS_MIXER=y
-CONFIG_SYSTEMCMDS_MOTOR_RAMP=y
 CONFIG_SYSTEMCMDS_MOTOR_TEST=y
 CONFIG_SYSTEMCMDS_MTD=y
 CONFIG_SYSTEMCMDS_NSHTERM=y

boards/emlid/navio2/default.px4board

@@ -63,7 +63,6 @@ CONFIG_MODULES_VTOL_ATT_CONTROL=y
 CONFIG_SYSTEMCMDS_DYN=y
 CONFIG_SYSTEMCMDS_LED_CONTROL=y
 CONFIG_SYSTEMCMDS_MIXER=y
-CONFIG_SYSTEMCMDS_MOTOR_RAMP=y
 CONFIG_SYSTEMCMDS_MOTOR_TEST=y
 CONFIG_SYSTEMCMDS_PARAM=y
 CONFIG_SYSTEMCMDS_PERF=y

boards/holybro/durandal-v1/default.px4board

@@ -81,7 +81,6 @@ CONFIG_SYSTEMCMDS_I2CDETECT=y
 CONFIG_SYSTEMCMDS_LED_CONTROL=y
 CONFIG_SYSTEMCMDS_MFT=y
 CONFIG_SYSTEMCMDS_MIXER=y
-CONFIG_SYSTEMCMDS_MOTOR_RAMP=y
 CONFIG_SYSTEMCMDS_MOTOR_TEST=y
 CONFIG_SYSTEMCMDS_MTD=y
 CONFIG_SYSTEMCMDS_NSHTERM=y

boards/holybro/pix32v5/default.px4board

@@ -91,7 +91,6 @@ CONFIG_SYSTEMCMDS_I2CDETECT=y
 CONFIG_SYSTEMCMDS_LED_CONTROL=y
 CONFIG_SYSTEMCMDS_MFT=y
 CONFIG_SYSTEMCMDS_MIXER=y
-CONFIG_SYSTEMCMDS_MOTOR_RAMP=y
 CONFIG_SYSTEMCMDS_MOTOR_TEST=y
 CONFIG_SYSTEMCMDS_MTD=y
 CONFIG_SYSTEMCMDS_NSHTERM=y

boards/modalai/fc-v1/default.px4board

@@ -86,7 +86,6 @@ CONFIG_SYSTEMCMDS_I2CDETECT=y
 CONFIG_SYSTEMCMDS_LED_CONTROL=y
 CONFIG_SYSTEMCMDS_MFT=y
 CONFIG_SYSTEMCMDS_MIXER=y
-CONFIG_SYSTEMCMDS_MOTOR_RAMP=y
 CONFIG_SYSTEMCMDS_MOTOR_TEST=y
 CONFIG_SYSTEMCMDS_MTD=y
 CONFIG_SYSTEMCMDS_NSHTERM=y

boards/modalai/fc-v2/default.px4board

@@ -81,7 +81,6 @@ CONFIG_SYSTEMCMDS_I2CDETECT=y
 CONFIG_SYSTEMCMDS_LED_CONTROL=y
 CONFIG_SYSTEMCMDS_MFT=y
 CONFIG_SYSTEMCMDS_MIXER=y
-CONFIG_SYSTEMCMDS_MOTOR_RAMP=y
 CONFIG_SYSTEMCMDS_MOTOR_TEST=y
 CONFIG_SYSTEMCMDS_MTD=y
 CONFIG_SYSTEMCMDS_NSHTERM=y

boards/mro/ctrl-zero-f7-oem/default.px4board

@@ -84,7 +84,6 @@ CONFIG_SYSTEMCMDS_I2CDETECT=y
 CONFIG_SYSTEMCMDS_LED_CONTROL=y
 CONFIG_SYSTEMCMDS_MFT=y
 CONFIG_SYSTEMCMDS_MIXER=y
-CONFIG_SYSTEMCMDS_MOTOR_RAMP=y
 CONFIG_SYSTEMCMDS_MOTOR_TEST=y
 CONFIG_SYSTEMCMDS_MTD=y
 CONFIG_SYSTEMCMDS_NSHTERM=y

boards/mro/ctrl-zero-f7/default.px4board

@@ -84,7 +84,6 @@ CONFIG_SYSTEMCMDS_I2CDETECT=y
 CONFIG_SYSTEMCMDS_LED_CONTROL=y
 CONFIG_SYSTEMCMDS_MFT=y
 CONFIG_SYSTEMCMDS_MIXER=y
-CONFIG_SYSTEMCMDS_MOTOR_RAMP=y
 CONFIG_SYSTEMCMDS_MOTOR_TEST=y
 CONFIG_SYSTEMCMDS_MTD=y
 CONFIG_SYSTEMCMDS_NSHTERM=y

boards/mro/ctrl-zero-h7-oem/default.px4board

@@ -83,7 +83,6 @@ CONFIG_SYSTEMCMDS_I2CDETECT=y
 CONFIG_SYSTEMCMDS_LED_CONTROL=y
 CONFIG_SYSTEMCMDS_MFT=y
 CONFIG_SYSTEMCMDS_MIXER=y
-CONFIG_SYSTEMCMDS_MOTOR_RAMP=y
 CONFIG_SYSTEMCMDS_MOTOR_TEST=y
 CONFIG_SYSTEMCMDS_MTD=y
 CONFIG_SYSTEMCMDS_NSHTERM=y

boards/mro/ctrl-zero-h7/default.px4board

@@ -84,7 +84,6 @@ CONFIG_SYSTEMCMDS_I2CDETECT=y
 CONFIG_SYSTEMCMDS_LED_CONTROL=y
 CONFIG_SYSTEMCMDS_MFT=y
 CONFIG_SYSTEMCMDS_MIXER=y
-CONFIG_SYSTEMCMDS_MOTOR_RAMP=y
 CONFIG_SYSTEMCMDS_MOTOR_TEST=y
 CONFIG_SYSTEMCMDS_MTD=y
 CONFIG_SYSTEMCMDS_NSHTERM=y

boards/mro/pixracerpro/default.px4board

@@ -82,7 +82,6 @@ CONFIG_SYSTEMCMDS_I2CDETECT=y
 CONFIG_SYSTEMCMDS_LED_CONTROL=y
 CONFIG_SYSTEMCMDS_MFT=y
 CONFIG_SYSTEMCMDS_MIXER=y
-CONFIG_SYSTEMCMDS_MOTOR_RAMP=y
 CONFIG_SYSTEMCMDS_MOTOR_TEST=y
 CONFIG_SYSTEMCMDS_MTD=y
 CONFIG_SYSTEMCMDS_NSHTERM=y

boards/mro/x21-777/default.px4board

@@ -85,7 +85,6 @@ CONFIG_SYSTEMCMDS_I2CDETECT=y
 CONFIG_SYSTEMCMDS_LED_CONTROL=y
 CONFIG_SYSTEMCMDS_MFT=y
 CONFIG_SYSTEMCMDS_MIXER=y
-CONFIG_SYSTEMCMDS_MOTOR_RAMP=y
 CONFIG_SYSTEMCMDS_MOTOR_TEST=y
 CONFIG_SYSTEMCMDS_MTD=y
 CONFIG_SYSTEMCMDS_NSHTERM=y

boards/mro/x21/default.px4board

@@ -85,7 +85,6 @@ CONFIG_SYSTEMCMDS_I2CDETECT=y
 CONFIG_SYSTEMCMDS_LED_CONTROL=y
 CONFIG_SYSTEMCMDS_MFT=y
 CONFIG_SYSTEMCMDS_MIXER=y
-CONFIG_SYSTEMCMDS_MOTOR_RAMP=y
 CONFIG_SYSTEMCMDS_MOTOR_TEST=y
 CONFIG_SYSTEMCMDS_MTD=y
 CONFIG_SYSTEMCMDS_NSHTERM=y

boards/nxp/fmuk66-e/default.px4board

@@ -79,7 +79,6 @@ CONFIG_SYSTEMCMDS_I2CDETECT=y
 CONFIG_SYSTEMCMDS_LED_CONTROL=y
 CONFIG_SYSTEMCMDS_MFT=y
 CONFIG_SYSTEMCMDS_MIXER=y
-CONFIG_SYSTEMCMDS_MOTOR_RAMP=y
 CONFIG_SYSTEMCMDS_MOTOR_TEST=y
 CONFIG_SYSTEMCMDS_MTD=y
 CONFIG_SYSTEMCMDS_NSHTERM=y

boards/nxp/fmuk66-v3/default.px4board

@@ -83,7 +83,6 @@ CONFIG_SYSTEMCMDS_I2CDETECT=y
 CONFIG_SYSTEMCMDS_LED_CONTROL=y
 CONFIG_SYSTEMCMDS_MFT=y
 CONFIG_SYSTEMCMDS_MIXER=y
-CONFIG_SYSTEMCMDS_MOTOR_RAMP=y
 CONFIG_SYSTEMCMDS_MOTOR_TEST=y
 CONFIG_SYSTEMCMDS_MTD=y
 CONFIG_SYSTEMCMDS_NSHTERM=y

boards/px4/fmu-v3/default.px4board

@@ -88,7 +88,6 @@ CONFIG_SYSTEMCMDS_I2CDETECT=y
 CONFIG_SYSTEMCMDS_LED_CONTROL=y
 CONFIG_SYSTEMCMDS_MFT=y
 CONFIG_SYSTEMCMDS_MIXER=y
-CONFIG_SYSTEMCMDS_MOTOR_RAMP=y
 CONFIG_SYSTEMCMDS_MOTOR_TEST=y
 CONFIG_SYSTEMCMDS_MTD=y
 CONFIG_SYSTEMCMDS_NSHTERM=y

boards/px4/fmu-v4/default.px4board

@@ -89,7 +89,6 @@ CONFIG_SYSTEMCMDS_I2CDETECT=y
 CONFIG_SYSTEMCMDS_LED_CONTROL=y
 CONFIG_SYSTEMCMDS_MFT=y
 CONFIG_SYSTEMCMDS_MIXER=y
-CONFIG_SYSTEMCMDS_MOTOR_RAMP=y
 CONFIG_SYSTEMCMDS_MOTOR_TEST=y
 CONFIG_SYSTEMCMDS_MTD=y
 CONFIG_SYSTEMCMDS_NSHTERM=y

boards/px4/fmu-v4pro/default.px4board

@@ -86,7 +86,6 @@ CONFIG_SYSTEMCMDS_I2CDETECT=y
 CONFIG_SYSTEMCMDS_LED_CONTROL=y
 CONFIG_SYSTEMCMDS_MFT=y
 CONFIG_SYSTEMCMDS_MIXER=y
-CONFIG_SYSTEMCMDS_MOTOR_RAMP=y
 CONFIG_SYSTEMCMDS_MOTOR_TEST=y
 CONFIG_SYSTEMCMDS_MTD=y
 CONFIG_SYSTEMCMDS_NSHTERM=y

boards/px4/fmu-v5/default.px4board

@@ -91,7 +91,6 @@ CONFIG_SYSTEMCMDS_I2CDETECT=y
 CONFIG_SYSTEMCMDS_LED_CONTROL=y
 CONFIG_SYSTEMCMDS_MFT=y
 CONFIG_SYSTEMCMDS_MIXER=y
-CONFIG_SYSTEMCMDS_MOTOR_RAMP=y
 CONFIG_SYSTEMCMDS_MOTOR_TEST=y
 CONFIG_SYSTEMCMDS_MTD=y
 CONFIG_SYSTEMCMDS_NSHTERM=y

boards/px4/fmu-v5x/default.px4board

@@ -92,7 +92,6 @@ CONFIG_SYSTEMCMDS_I2CDETECT=y
 CONFIG_SYSTEMCMDS_LED_CONTROL=y
 CONFIG_SYSTEMCMDS_MFT=y
 CONFIG_SYSTEMCMDS_MIXER=y
-CONFIG_SYSTEMCMDS_MOTOR_RAMP=y
 CONFIG_SYSTEMCMDS_MOTOR_TEST=y
 CONFIG_SYSTEMCMDS_MTD=y
 CONFIG_SYSTEMCMDS_NETMAN=y

boards/px4/fmu-v6u/default.px4board

@@ -84,7 +84,6 @@ CONFIG_SYSTEMCMDS_I2CDETECT=y
 CONFIG_SYSTEMCMDS_LED_CONTROL=y
 CONFIG_SYSTEMCMDS_MFT=y
 CONFIG_SYSTEMCMDS_MIXER=y
-CONFIG_SYSTEMCMDS_MOTOR_RAMP=y
 CONFIG_SYSTEMCMDS_MOTOR_TEST=y
 CONFIG_SYSTEMCMDS_MTD=y
 CONFIG_SYSTEMCMDS_NSHTERM=y

boards/px4/raspberrypi/default.px4board

@@ -60,7 +60,6 @@ CONFIG_MODULES_VTOL_ATT_CONTROL=y
 CONFIG_SYSTEMCMDS_DYN=y
 CONFIG_SYSTEMCMDS_LED_CONTROL=y
 CONFIG_SYSTEMCMDS_MIXER=y
-CONFIG_SYSTEMCMDS_MOTOR_RAMP=y
 CONFIG_SYSTEMCMDS_MOTOR_TEST=y
 CONFIG_SYSTEMCMDS_PARAM=y
 CONFIG_SYSTEMCMDS_PERF=y

boards/px4/sitl/default.px4board

@@ -50,7 +50,6 @@ CONFIG_SYSTEMCMDS_DYN=y
 CONFIG_SYSTEMCMDS_FAILURE=y
 CONFIG_SYSTEMCMDS_LED_CONTROL=y
 CONFIG_SYSTEMCMDS_MIXER=y
-CONFIG_SYSTEMCMDS_MOTOR_RAMP=y
 CONFIG_SYSTEMCMDS_MOTOR_TEST=y
 CONFIG_SYSTEMCMDS_PARAM=y
 CONFIG_SYSTEMCMDS_PERF=y

boards/scumaker/pilotpi/default.px4board

@@ -58,7 +58,6 @@ CONFIG_MODULES_VTOL_ATT_CONTROL=y
 CONFIG_SYSTEMCMDS_DYN=y
 CONFIG_SYSTEMCMDS_LED_CONTROL=y
 CONFIG_SYSTEMCMDS_MIXER=y
-CONFIG_SYSTEMCMDS_MOTOR_RAMP=y
 CONFIG_SYSTEMCMDS_PARAM=y
 CONFIG_SYSTEMCMDS_PERF=y
 CONFIG_SYSTEMCMDS_PWM=y

boards/uvify/core/default.px4board

@@ -70,7 +70,6 @@ CONFIG_SYSTEMCMDS_I2CDETECT=y
 CONFIG_SYSTEMCMDS_LED_CONTROL=y
 CONFIG_SYSTEMCMDS_MFT=y
 CONFIG_SYSTEMCMDS_MIXER=y
-CONFIG_SYSTEMCMDS_MOTOR_RAMP=y
 CONFIG_SYSTEMCMDS_MOTOR_TEST=y
 CONFIG_SYSTEMCMDS_MTD=y
 CONFIG_SYSTEMCMDS_NSHTERM=y

src/drivers/drv_pwm_output.h

@@ -194,11 +194,6 @@ typedef uint16_t	servo_position_t;
 /** force safety switch on (to enable use of safety switch) */
 #define PWM_SERVO_SET_FORCE_SAFETY_ON		_PX4_IOC(_PWM_SERVO_BASE, 28)
 
-/** set auxillary output mode */
-#define PWM_SERVO_ENTER_TEST_MODE  18
-#define PWM_SERVO_EXIT_TEST_MODE   19
-#define PWM_SERVO_SET_MODE         _PX4_IOC(_PWM_SERVO_BASE, 34)
-
 /*
  *
  *
@@ -207,9 +202,6 @@ typedef uint16_t	servo_position_t;
  *
  */
 
-/** set a single servo to a specific value */
-#define PWM_SERVO_SET(_servo)	_PX4_IOC(_PWM_SERVO_BASE, 0x30 + _servo)
-
 /** get a single specific servo value */
 #define PWM_SERVO_GET(_servo)	_PX4_IOC(_PWM_SERVO_BASE, 0x50 + _servo)
 

src/drivers/pwm_out/PWMOut.cpp

@@ -411,10 +411,6 @@ bool PWMOut::update_pwm_out_state(bool on)
 bool PWMOut::updateOutputs(bool stop_motors, uint16_t outputs[MAX_ACTUATORS],
 			   unsigned num_outputs, unsigned num_control_groups_updated)
 {
-	if (_test_mode) {
-		return false;
-	}
-
 	/* output to the servos */
 	if (_pwm_initialized) {
 		for (size_t i = 0; i < num_outputs; i++) {
@@ -855,47 +851,6 @@ int PWMOut::pwm_ioctl(device::file_t *filp, int cmd, unsigned long arg)
 		}
 		break;
 
-#if defined(DIRECT_PWM_OUTPUT_CHANNELS) && DIRECT_PWM_OUTPUT_CHANNELS >= 14
-
-	case PWM_SERVO_SET(13):
-	case PWM_SERVO_SET(12):
-	case PWM_SERVO_SET(11):
-	case PWM_SERVO_SET(10):
-	case PWM_SERVO_SET(9):
-	case PWM_SERVO_SET(8):
-#endif
-#if defined(DIRECT_PWM_OUTPUT_CHANNELS) && DIRECT_PWM_OUTPUT_CHANNELS >= 8
-	case PWM_SERVO_SET(7):
-	case PWM_SERVO_SET(6):
-#endif
-#if defined(DIRECT_PWM_OUTPUT_CHANNELS) && DIRECT_PWM_OUTPUT_CHANNELS >= 6
-	case PWM_SERVO_SET(5):
-#endif
-#if defined(DIRECT_PWM_OUTPUT_CHANNELS) && DIRECT_PWM_OUTPUT_CHANNELS >= 5
-	case PWM_SERVO_SET(4):
-#endif
-	case PWM_SERVO_SET(3):
-	case PWM_SERVO_SET(2):
-	case PWM_SERVO_SET(1):
-	case PWM_SERVO_SET(0):
-		if (cmd - PWM_SERVO_SET(0) >= (int)_num_outputs) {
-			ret = -EINVAL;
-			break;
-		}
-
-		if (arg <= 2100) {
-			unsigned channel = cmd - PWM_SERVO_SET(0) + _output_base;
-
-			if (_pwm_mask & (1 << channel)) {
-				up_pwm_servo_set(channel, arg);
-			}
-
-		} else {
-			ret = -EINVAL;
-		}
-
-		break;
-
 #if defined(DIRECT_PWM_OUTPUT_CHANNELS) && DIRECT_PWM_OUTPUT_CHANNELS >= 14
 
 	case PWM_SERVO_GET(13):
@@ -956,23 +911,6 @@ int PWMOut::pwm_ioctl(device::file_t *filp, int cmd, unsigned long arg)
 		*(unsigned *)arg = _num_outputs;
 		break;
 
-	case PWM_SERVO_SET_MODE: {
-			switch (arg) {
-			case PWM_SERVO_ENTER_TEST_MODE:
-				_test_mode = true;
-				break;
-
-			case PWM_SERVO_EXIT_TEST_MODE:
-				_test_mode = false;
-				break;
-
-			default:
-				ret = -EINVAL;
-			}
-
-			break;
-		}
-
 	case MIXERIOCRESET:
 		_mixing_output.resetMixerThreadSafe();
 
@@ -997,165 +935,8 @@ int PWMOut::pwm_ioctl(device::file_t *filp, int cmd, unsigned long arg)
 	return ret;
 }
 
-int PWMOut::test(const char *dev)
-{
-	int	 fd;
-	unsigned servo_count = 0;
-	unsigned pwm_value = 1000;
-	int	 direction = 1;
-	int  ret;
-	int   rv = -1;
-
-	fd = ::open(dev, O_RDWR);
-
-	if (fd < 0) {
-		PX4_ERR("open fail");
-		return -1;
-	}
-
-	if (::ioctl(fd, PWM_SERVO_SET_MODE, PWM_SERVO_ENTER_TEST_MODE) < 0) {
-		PX4_ERR("Failed to Enter pwm test mode");
-		goto err_out_no_test;
-	}
-
-	if (::ioctl(fd, PWM_SERVO_ARM, 0) < 0) {
-		PX4_ERR("servo arm failed");
-		goto err_out;
-	}
-
-	if (::ioctl(fd, PWM_SERVO_GET_COUNT, (unsigned long)&servo_count) != 0) {
-		PX4_ERR("Unable to get servo count");
-		goto err_out;
-	}
-
-	PX4_INFO("Testing %u servos", servo_count);
-
-	struct pollfd fds;
-
-	fds.fd = 0; /* stdin */
-
-	fds.events = POLLIN;
-
-	PX4_INFO("Press CTRL-C or 'c' to abort.");
-
-	for (;;) {
-		/* sweep all servos between 1000..2000 */
-		servo_position_t servos[servo_count];
-
-		for (unsigned i = 0; i < servo_count; i++) {
-			servos[i] = pwm_value;
-		}
-
-		for (unsigned i = 0; i < servo_count;	i++) {
-			if (::ioctl(fd, PWM_SERVO_SET(i), servos[i]) < 0) {
-				PX4_ERR("servo %u set failed", i);
-				goto err_out;
-			}
-		}
-
-		if (direction > 0) {
-			if (pwm_value < 2000) {
-				pwm_value++;
-
-			} else {
-				direction = -1;
-			}
-
-		} else {
-			if (pwm_value > 1000) {
-				pwm_value--;
-
-			} else {
-				direction = 1;
-			}
-		}
-
-		/* readback servo values */
-		for (unsigned i = 0; i < servo_count; i++) {
-			servo_position_t value;
-
-			if (::ioctl(fd, PWM_SERVO_GET(i), (unsigned long)&value)) {
-				PX4_ERR("error reading PWM servo %u", i);
-				goto err_out;
-			}
-
-			if (value != servos[i]) {
-				PX4_ERR("servo %u readback error, got %" PRIu16 " expected %" PRIu16, i, value, servos[i]);
-				goto err_out;
-			}
-		}
-
-		/* Check if user wants to quit */
-		char c;
-		ret = ::poll(&fds, 1, 0);
-
-		if (ret > 0) {
-
-			::read(0, &c, 1);
-
-			if (c == 0x03 || c == 0x63 || c == 'q') {
-				PX4_INFO("User abort");
-				break;
-			}
-		}
-	}
-
-	rv = 0;
-
-err_out:
-
-	if (::ioctl(fd, PWM_SERVO_SET_MODE, PWM_SERVO_EXIT_TEST_MODE) < 0) {
-		PX4_ERR("Failed to Exit pwm test mode");
-	}
-
-err_out_no_test:
-	::close(fd);
-	return rv;
-}
-
 int PWMOut::custom_command(int argc, char *argv[])
 {
-
-	int ch = 0;
-	int myoptind = 0;
-	const char *myoptarg = nullptr;
-	const char *dev = PX4FMU_DEVICE_PATH;
-
-	while ((ch = px4_getopt(argc, argv, "d:", &myoptind, &myoptarg)) != EOF) {
-		switch (ch) {
-		case 'd':
-			if (nullptr == strstr(myoptarg, "/dev/")) {
-				PX4_WARN("device %s not valid", myoptarg);
-				print_usage(nullptr);
-				return 1;
-			}
-
-			dev = myoptarg;
-			break;
-		}
-	}
-
-	if (myoptind >= argc) {
-		print_usage(nullptr);
-		return 1;
-	}
-
-	const char *verb = argv[myoptind];
-
-	/* start pwm_out if not running */
-	if (!is_running()) {
-
-		int ret = PWMOut::task_spawn(argc, argv);
-
-		if (ret) {
-			return ret;
-		}
-	}
-
-	if (!strcmp(verb, "test")) {
-		return test(dev);
-	}
-
 	return print_usage("unknown command");
 }
 
@@ -1225,7 +1006,6 @@ By default the module runs on a work queue with a callback on the uORB actuator_
 
 	PRINT_MODULE_USAGE_NAME("pwm_out", "driver");
 	PRINT_MODULE_USAGE_COMMAND("start");
-	PRINT_MODULE_USAGE_COMMAND_DESCR("test", "Test outputs");
 	PRINT_MODULE_USAGE_DEFAULT_COMMANDS();
 
 	return 0;

src/drivers/pwm_out/PWMOut.hpp

@@ -147,7 +147,6 @@ private:
 	bool		_pwm_on{false};
 	uint32_t	_pwm_mask{0};
 	bool		_pwm_initialized{false};
-	bool		_test_mode{false};
 
 	unsigned	_num_disarmed_set{0};
 

src/drivers/px4io/px4io.cpp

@@ -429,7 +429,7 @@ bool PX4IO::updateOutputs(bool stop_motors, uint16_t outputs[MAX_ACTUATORS],
 {
 	SmartLock lock_guard(_lock);
 
-	if (!_test_fmu_fail && !_in_test_mode) {
+	if (!_test_fmu_fail) {
 		/* output to the servos */
 		io_reg_set(PX4IO_PAGE_DIRECT_PWM, 0, outputs, num_outputs);
 	}
@@ -1755,32 +1755,6 @@ int PX4IO::ioctl(file *filep, int cmd, unsigned long arg)
 		ret = dsm_bind_ioctl(arg);
 		break;
 
-	case PWM_SERVO_SET(0) ... PWM_SERVO_SET(PWM_OUTPUT_MAX_CHANNELS - 1): {
-
-			/* TODO: we could go lower for e.g. TurboPWM */
-			unsigned channel = cmd - PWM_SERVO_SET(0);
-
-			/* PWM needs to be either 0 or in the valid range. */
-			if ((arg != 0) && ((channel >= _max_actuators) ||
-					   (arg < PWM_LOWEST_MIN) ||
-					   (arg > PWM_HIGHEST_MAX))) {
-				ret = -EINVAL;
-
-			} else {
-				if (!_test_fmu_fail && _in_test_mode) {
-					/* send a direct PWM value */
-					ret = io_reg_set(PX4IO_PAGE_DIRECT_PWM, channel, arg);
-
-				} else {
-					/* Just silently accept the ioctl without doing anything
-					 * in test mode. */
-					ret = OK;
-				}
-			}
-
-			break;
-		}
-
 	case PWM_SERVO_GET(0) ... PWM_SERVO_GET(PWM_OUTPUT_MAX_CHANNELS - 1): {
 
 			unsigned channel = cmd - PWM_SERVO_GET(0);
@@ -1816,22 +1790,6 @@ int PX4IO::ioctl(file *filep, int cmd, unsigned long arg)
 			break;
 		}
 
-	case PWM_SERVO_SET_MODE: {
-			// reset all channels to disarmed when entering/leaving test mode, so that we don't
-			// accidentially use values from previous tests
-			pwm_output_values pwm_disarmed;
-
-			if (io_reg_get(PX4IO_PAGE_DISARMED_PWM, 0, pwm_disarmed.values, _max_actuators) == 0) {
-				for (unsigned i = 0; i < _max_actuators; ++i) {
-					io_reg_set(PX4IO_PAGE_DIRECT_PWM, i, pwm_disarmed.values[i]);
-				}
-			}
-
-			_in_test_mode = (arg == PWM_SERVO_ENTER_TEST_MODE);
-			ret = (arg == PWM_SERVO_ENTER_TEST_MODE || PWM_SERVO_EXIT_TEST_MODE) ? 0 : -EINVAL;
-		}
-		break;
-
 	case MIXERIOCRESET:
 		PX4_DEBUG("MIXERIOCRESET");
 		_mixing_output.resetMixerThreadSafe();

src/systemcmds/motor_ramp/CMakeLists.txt

@@ -1,40 +0,0 @@
-############################################################################
-#
-#   Copyright (c) 2015 PX4 Development Team. All rights reserved.
-#
-# Redistribution and use in source and binary forms, with or without
-# modification, are permitted provided that the following conditions
-# are met:
-#
-# 1. Redistributions of source code must retain the above copyright
-#    notice, this list of conditions and the following disclaimer.
-# 2. Redistributions in binary form must reproduce the above copyright
-#    notice, this list of conditions and the following disclaimer in
-#    the documentation and/or other materials provided with the
-#    distribution.
-# 3. Neither the name PX4 nor the names of its contributors may be
-#    used to endorse or promote products derived from this software
-#    without specific prior written permission.
-#
-# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
-# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
-# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
-# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
-# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
-# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
-# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
-# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
-# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
-# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
-# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
-# POSSIBILITY OF SUCH DAMAGE.
-#
-############################################################################
-px4_add_module(
-    MODULE systemcmds__motor_ramp
-    MAIN motor_ramp
-    COMPILE_FLAGS
-        -Wno-write-strings
-    SRCS
-        motor_ramp.cpp
-    )

src/systemcmds/motor_ramp/Kconfig

@@ -1,5 +0,0 @@
-menuconfig SYSTEMCMDS_MOTOR_RAMP
-	bool "motor_ramp"
-	default n
-	---help---
-		Enable support for motor_ramp

src/systemcmds/pwm/pwm.cpp

@@ -123,15 +123,11 @@ $ pwm test -c 13 -p 1200
 
 	PRINT_MODULE_USAGE_COMMAND_DESCR("min", "Set Minimum PWM value");
 	PRINT_MODULE_USAGE_COMMAND_DESCR("max", "Set Maximum PWM value");
-	PRINT_MODULE_USAGE_COMMAND_DESCR("test", "Set Output to a specific value until 'q' or 'c' or 'ctrl-c' pressed");
 
-	PRINT_MODULE_USAGE_COMMAND_DESCR("steps", "Run 5 steps from 0 to 100%");
+	PRINT_MODULE_USAGE_PARAM_COMMENT("The commands 'min' and 'max' require a PWM value:");
-
-
-	PRINT_MODULE_USAGE_PARAM_COMMENT("The commands 'min', 'max' and 'test' require a PWM value:");
 	PRINT_MODULE_USAGE_PARAM_INT('p', -1, 0, 4000, "PWM value (eg. 1100)", false);
 
-	PRINT_MODULE_USAGE_PARAM_COMMENT("The commands 'rate', 'oneshot', 'min', 'max', 'test' and 'steps' "
+	PRINT_MODULE_USAGE_PARAM_COMMENT("The commands 'rate', 'oneshot', 'min', 'max' "
 					 "additionally require to specify the channels with one of the following commands:");
 	PRINT_MODULE_USAGE_PARAM_STRING('c', nullptr, nullptr, "select channels in the form: 1234 (1 digit per channel, 1=first)",
 					true);
@@ -159,7 +155,7 @@ pwm_main(int argc, char *argv[])
 	bool oneshot = false;
 	int ch;
 	int ret;
-	int rv = 1;
+
 	char *ep;
 	uint32_t set_mask = 0;
 	unsigned group;
@@ -497,237 +493,6 @@ pwm_main(int argc, char *argv[])
 
 		return 0;
 
-	} else if (!strcmp(command, "test")) {
-
-		if (set_mask == 0) {
-			usage("no channels set");
-			return 1;
-		}
-
-		if (pwm_value == 0) {
-			usage("no PWM provided");
-			return 1;
-		}
-
-		/* get current servo values */
-		struct pwm_output_values last_spos;
-
-		for (unsigned i = 0; i < servo_count; i++) {
-
-
-			ret = px4_ioctl(fd, PWM_SERVO_GET(i), (unsigned long)&last_spos.values[i]);
-
-			if (ret != OK) {
-				PX4_ERR("PWM_SERVO_GET(%d)", i);
-				return 1;
-			}
-		}
-
-		/* perform PWM output */
-
-		/* Open console directly to grab CTRL-C signal */
-		struct pollfd fds;
-		fds.fd = 0; /* stdin */
-		fds.events = POLLIN;
-
-		if (::ioctl(fd, PWM_SERVO_SET_MODE, PWM_SERVO_ENTER_TEST_MODE) < 0) {
-				PX4_ERR("Failed to Enter pwm test mode");
-				goto err_out_no_test;
-		}
-
-		PX4_INFO("Press CTRL-C or 'c' to abort.");
-
-		while (1) {
-			for (unsigned i = 0; i < servo_count; i++) {
-				if (set_mask & 1 << i) {
-					ret = px4_ioctl(fd, PWM_SERVO_SET(i), pwm_value);
-
-					if (ret != OK) {
-						PX4_ERR("PWM_SERVO_SET(%d)", i);
-						goto err_out;
-					}
-				}
-			}
-
-			/* abort on user request */
-			char c;
-			ret = poll(&fds, 1, 0);
-
-			if (ret > 0) {
-
-				ret = read(0, &c, 1);
-
-				if (c == 0x03 || c == 0x63 || c == 'q') {
-					/* reset output to the last value */
-					for (unsigned i = 0; i < servo_count; i++) {
-						if (set_mask & 1 << i) {
-							ret = px4_ioctl(fd, PWM_SERVO_SET(i), last_spos.values[i]);
-
-							if (ret != OK) {
-								PX4_ERR("PWM_SERVO_SET(%d)", i);
-								goto err_out;
-							}
-						}
-					}
-
-					PX4_INFO("User abort\n");
-					rv = 0;
-					goto err_out;
-				}
-			}
-
-			/* Delay longer than the max Oneshot duration */
-
-			px4_usleep(2542);
-
-#ifdef __PX4_NUTTX
-			/* Trigger all timer's channels in Oneshot mode to fire
-			 * the oneshots with updated values.
-			 */
-
-			up_pwm_update(0xff);
-#endif
-		}
-		rv = 0;
-err_out:
-			if (::ioctl(fd, PWM_SERVO_SET_MODE, PWM_SERVO_EXIT_TEST_MODE) < 0) {
-					rv = 1;
-					PX4_ERR("Failed to Exit pwm test mode");
-			}
-
-err_out_no_test:
-		return rv;
-
-
-	} else if (!strcmp(command, "steps")) {
-
-		if (set_mask == 0) {
-			usage("no channels set");
-			return 1;
-		}
-
-		/* get current servo values */
-		struct pwm_output_values last_spos;
-
-		for (unsigned i = 0; i < servo_count; i++) {
-
-			ret = px4_ioctl(fd, PWM_SERVO_GET(i), (unsigned long)&last_spos.values[i]);
-
-			if (ret != OK) {
-				PX4_ERR("PWM_SERVO_GET(%d)", i);
-				return 1;
-			}
-		}
-
-		/* perform PWM output */
-
-		/* Open console directly to grab CTRL-C signal */
-		struct pollfd fds;
-		fds.fd = 0; /* stdin */
-		fds.events = POLLIN;
-
-		PX4_WARN("Running 5 steps. WARNING! Motors will be live in 5 seconds\nPress any key to abort now.");
-		px4_sleep(5);
-
-		if (::ioctl(fd, PWM_SERVO_SET_MODE, PWM_SERVO_ENTER_TEST_MODE) < 0) {
-				PX4_ERR("Failed to Enter pwm test mode");
-				goto err_out_no_test;
-		}
-
-		unsigned off = 900;
-		unsigned idle = 1300;
-		unsigned full = 2000;
-		unsigned steps_timings_us[] = {2000, 5000, 20000, 50000};
-
-		unsigned phase = 0;
-		unsigned phase_counter = 0;
-		unsigned const phase_maxcount = 20;
-
-		for (unsigned steps_timing_index = 0;
-		     steps_timing_index < sizeof(steps_timings_us) / sizeof(steps_timings_us[0]);
-		     steps_timing_index++) {
-
-			PX4_INFO("Step input (0 to 100%%) over %u us ramp", steps_timings_us[steps_timing_index]);
-
-			while (1) {
-				for (unsigned i = 0; i < servo_count; i++) {
-					if (set_mask & 1 << i) {
-
-						unsigned val;
-
-						if (phase == 0) {
-							val = idle;
-
-						} else if (phase == 1) {
-							/* ramp - depending how steep it is this ramp will look instantaneous on the output */
-							val = idle + (full - idle) * ((float)phase_counter / phase_maxcount);
-
-						} else {
-							val = off;
-						}
-
-						ret = px4_ioctl(fd, PWM_SERVO_SET(i), val);
-
-						if (ret != OK) {
-							PX4_ERR("PWM_SERVO_SET(%d)", i);
-							goto err_out;
-						}
-					}
-				}
-
-				/* abort on user request */
-				char c;
-				ret = poll(&fds, 1, 0);
-
-				if (ret > 0) {
-
-					ret = read(0, &c, 1);
-
-					if (ret > 0) {
-						/* reset output to the last value */
-						for (unsigned i = 0; i < servo_count; i++) {
-							if (set_mask & 1 << i) {
-								ret = px4_ioctl(fd, PWM_SERVO_SET(i), last_spos.values[i]);
-
-								if (ret != OK) {
-									PX4_ERR("PWM_SERVO_SET(%d)", i);
-									goto err_out;
-								}
-							}
-						}
-
-						PX4_INFO("User abort\n");
-						rv = 0;
-						goto err_out;
-					}
-				}
-
-				if (phase == 1) {
-					px4_usleep(steps_timings_us[steps_timing_index] / phase_maxcount);
-
-				} else if (phase == 0) {
-					px4_usleep(50000);
-
-				} else if (phase == 2) {
-					px4_usleep(50000);
-
-				} else {
-					break;
-				}
-
-				phase_counter++;
-
-				if (phase_counter > phase_maxcount) {
-					phase++;
-					phase_counter = 0;
-				}
-			}
-		}
-
-		rv = 0;
-		goto err_out;
-
-
 	} else if (!strcmp(command, "status") || !strcmp(command, "info")) {
 
 		printf("device: %s\n", dev);