Upstream update MAV_CMD_DO_MOTOR_TEST #264
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peterbarker
requested changes
Mar 23, 2022
| <param index="1" label="Instance" minValue="1" increment="1">Motor instance number (from 1 to max number of motors on the vehicle).</param> | ||
| <param index="2" label="Throttle Type" enum="MOTOR_TEST_THROTTLE_TYPE">Throttle type (whether the Throttle Value in param3 is a percentage, PWM value, etc.)</param> | ||
| <param index="3" label="Throttle">Throttle value.</param> | ||
| <param index="4" label="Timeout" units="s" minValue="0">Timeout between tests that are run in sequence.</param> |
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This is actually incorrect for ArduPilot. It specifies the duration of the test, as well as the interval between.
I think the original concept was the user would manually cancel the test by sending another message, but that a timeout would be specified in the message. As soon as we added the "Motor Count" parameter this became weird.
ArduPilot is in two minds about how this should work. Comments indicate that there's a fixed pause between each motor. Other comments say it spends half this time with motors on and half off. In actuality it's... weird.
In any case, the change here isn't right.
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