Copter: Support higher resolution percent based motor tests

ArduCopter/Copter.h

@@ -801,7 +801,7 @@ private:
     // motor_test.cpp
     void motor_test_output();
     bool mavlink_motor_test_check(const GCS_MAVLINK &gcs_chan, bool check_rc);
-    MAV_RESULT mavlink_motor_test_start(const GCS_MAVLINK &gcs_chan, uint8_t motor_seq, uint8_t throttle_type, uint16_t throttle_value, float timeout_sec, uint8_t motor_count);
+    MAV_RESULT mavlink_motor_test_start(const GCS_MAVLINK &gcs_chan, uint8_t motor_seq, uint8_t throttle_type, float throttle_value, float timeout_sec, uint8_t motor_count);
     void motor_test_stop();
 
     // motors.cpp

ArduCopter/GCS_Mavlink.cpp

@@ -808,7 +808,7 @@ MAV_RESULT GCS_MAVLINK_Copter::handle_command_long_packet(const mavlink_command_
         return copter.mavlink_motor_test_start(*this,
                                                (uint8_t)packet.param1,
                                                (uint8_t)packet.param2,
-                                               (uint16_t)packet.param3,
+                                               packet.param3,
                                                packet.param4,
                                                (uint8_t)packet.param5);
 

ArduCopter/motor_test.cpp

@@ -15,7 +15,7 @@ static uint32_t motor_test_timeout_ms;      // test will timeout this many milli
 static uint8_t motor_test_seq;              // motor sequence number of motor being tested
 static uint8_t motor_test_count;            // number of motors to test
 static uint8_t motor_test_throttle_type;    // motor throttle type (0=throttle percentage, 1=PWM, 2=pilot throttle channel pass-through)
-static uint16_t motor_test_throttle_value;  // throttle to be sent to motor, value depends upon it's type
+static float motor_test_throttle_value;  // throttle to be sent to motor, value depends upon it's type
 
 // motor_test_output - checks for timeout and sends updates to motors objects
 void Copter::motor_test_output()
@@ -65,13 +65,13 @@ void Copter::motor_test_output()
                 if (motor_test_throttle_value <= 100) {
                     int16_t pwm_min = motors->get_pwm_output_min();
                     int16_t pwm_max = motors->get_pwm_output_max();
-                    pwm = pwm_min + (pwm_max - pwm_min) * (float)motor_test_throttle_value/100.0f;
+                    pwm = (int16_t) (pwm_min + (pwm_max - pwm_min) * motor_test_throttle_value * 1e-2f);
                 }
 #endif
                 break;
 
             case MOTOR_TEST_THROTTLE_PWM:
-                pwm = motor_test_throttle_value;
+                pwm = (int16_t)motor_test_throttle_value;
                 break;
 
             case MOTOR_TEST_THROTTLE_PILOT:
@@ -127,7 +127,7 @@ bool Copter::mavlink_motor_test_check(const GCS_MAVLINK &gcs_chan, bool check_rc
 
 // mavlink_motor_test_start - start motor test - spin a single motor at a specified pwm
 //  returns MAV_RESULT_ACCEPTED on success, MAV_RESULT_FAILED on failure
-MAV_RESULT Copter::mavlink_motor_test_start(const GCS_MAVLINK &gcs_chan, uint8_t motor_seq, uint8_t throttle_type, uint16_t throttle_value,
+MAV_RESULT Copter::mavlink_motor_test_start(const GCS_MAVLINK &gcs_chan, uint8_t motor_seq, uint8_t throttle_type, float throttle_value,
                                          float timeout_sec, uint8_t motor_count)
 {
     if (motor_count == 0) {