AP_MotorsUGV: add motor_output_test_pwm

this allows the ground station to test a motor by requesting a specific pwm value

APMrover2/AP_MotorsUGV.cpp

@@ -313,43 +313,89 @@ void AP_MotorsUGV::setup_safety_output()
     SRV_Channels::set_failsafe_limit(SRV_Channel::k_throttleRight, SRV_Channel::SRV_CHANNEL_LIMIT_ZERO_PWM);
 }
 
-bool AP_MotorsUGV::output_test(motor_test_order motor_seq)
+// test steering or throttle output as a percentage of the total (range -100 to +100)
+// used in response to DO_MOTOR_TEST mavlink command
+bool AP_MotorsUGV::output_test_pct(motor_test_order motor_seq, float pct)
 {
     // check if the motor_seq is valid
     if (motor_seq > THROTTLE_RIGHT) {
         return false;
     }
-    _throttle = constrain_float(_throttle, -100.0f, 100.0f);
+    pct = constrain_float(pct, -100.0f, 100.0f);
+
+    switch (motor_seq) {
+        case THROTTLE: {
+            if (!SRV_Channels::function_assigned(SRV_Channel::k_throttle)) {
+                return false;
+            }
+            output_throttle(SRV_Channel::k_throttle, pct);
+            break;
+        }
+        case STEERING: {
+            if (!SRV_Channels::function_assigned(SRV_Channel::k_steering)) {
+                return false;
+            }
+            SRV_Channels::set_output_scaled(SRV_Channel::k_steering, pct * 45.0f);
+            break;
+        }
+        case THROTTLE_LEFT: {
+            if (!SRV_Channels::function_assigned(SRV_Channel::k_throttleLeft)) {
+                return false;
+            }
+            output_throttle(SRV_Channel::k_throttleLeft, pct);
+            break;
+        }
+        case THROTTLE_RIGHT: {
+            if (!SRV_Channels::function_assigned(SRV_Channel::k_throttleRight)) {
+                return false;
+            }
+            output_throttle(SRV_Channel::k_throttleRight, pct);
+            break;
+        }
+        default:
+            return false;
+    }
+    SRV_Channels::calc_pwm();
+    hal.rcout->cork();
+    SRV_Channels::output_ch_all();
+    hal.rcout->push();
+    return true;
+}
 
+// test steering or throttle output using a pwm value
+bool AP_MotorsUGV::output_test_pwm(motor_test_order motor_seq, float pwm)
+{
+    // check if the motor_seq is valid
+    if (motor_seq > THROTTLE_RIGHT) {
+        return false;
+    }
     switch (motor_seq) {
         case THROTTLE: {
             if (!SRV_Channels::function_assigned(SRV_Channel::k_throttle)) {
                 return false;
             }
-            SRV_Channels::set_output_scaled(SRV_Channel::k_throttle, _throttle);
+            SRV_Channels::set_output_pwm(SRV_Channel::k_throttle, pwm);
             break;
         }
         case STEERING: {
             if (!SRV_Channels::function_assigned(SRV_Channel::k_steering)) {
                 return false;
             }
-            SRV_Channels::set_output_scaled(SRV_Channel::k_steering, _throttle);
+            SRV_Channels::set_output_pwm(SRV_Channel::k_steering, pwm);
             break;
         }
         case THROTTLE_LEFT: {
             if (!SRV_Channels::function_assigned(SRV_Channel::k_throttleLeft)) {
                 return false;
             }
-            const float motorLeft = brushed_scaler((_throttle * 0.01f), _throttleLeft_servo);
-            SRV_Channels::set_output_scaled(SRV_Channel::k_throttleLeft, 1000.0f * motorLeft);
+            SRV_Channels::set_output_pwm(SRV_Channel::k_throttleLeft, pwm);
             break;
         }
         case THROTTLE_RIGHT: {
             if (!SRV_Channels::function_assigned(SRV_Channel::k_throttleRight)) {
                 return false;
             }
-            const float motorRight = brushed_scaler((_throttle * 0.01f), _throttleRight_servo);
-            SRV_Channels::set_output_scaled(SRV_Channel::k_throttleRight, 1000.0f * motorRight);
+            SRV_Channels::set_output_pwm(SRV_Channel::k_throttleRight, pwm);
             break;
         }
         default:
@@ -360,4 +406,4 @@ bool AP_MotorsUGV::output_test(motor_test_order motor_seq)
     SRV_Channels::output_ch_all();
     hal.rcout->push();
     return true;
-}
+}

APMrover2/AP_MotorsUGV.h

@@ -50,7 +50,12 @@ public:
     // set when to use slew rate limiter
     void slew_limit_throttle(bool value) { _use_slew_rate = value; }
 
-    bool output_test(motor_test_order motor_seq);
+    // test steering or throttle output as a percentage of the total (range -100 to +100)
+    // used in response to DO_MOTOR_TEST mavlink command
+    bool output_test_pct(motor_test_order motor_seq, float pct);
+
+    // test steering or throttle output using a pwm value
+    bool output_test_pwm(motor_test_order motor_seq, float pwm);
 
     // var_info for holding Parameter information
     static const struct AP_Param::GroupInfo var_info[];