From 991bcf6fd91f6407bcd0fe3dbe58398b4baa7c6e Mon Sep 17 00:00:00 2001
From: Jacob Walser <jwalser90@gmail.com>
Date: Tue, 4 Apr 2017 20:24:25 -0400
Subject: [PATCH] Add MOTOR_TEST_ORDER enum and update DO_MOTOR_TEST params

---
 message_definitions/v1.0/common.xml | 18 +++++++++++++++---
 1 file changed, 15 insertions(+), 3 deletions(-)

diff --git a/message_definitions/v1.0/common.xml b/message_definitions/v1.0/common.xml
index bf4af5b0d3..88369e34c9 100644
--- a/message_definitions/v1.0/common.xml
+++ b/message_definitions/v1.0/common.xml
@@ -1137,12 +1137,12 @@
       </entry>
       <entry value="209" name="MAV_CMD_DO_MOTOR_TEST">
         <description>Mission command to perform motor test</description>
-        <param index="1">motor sequence number (a number from 1 to max number of motors on the vehicle)</param>
+        <param index="1">motor number (a number from 1 to max number of motors on the vehicle)</param>
         <param index="2">throttle type (0=throttle percentage, 1=PWM, 2=pilot throttle channel pass-through. See MOTOR_TEST_THROTTLE_TYPE enum)</param>
         <param index="3">throttle</param>
         <param index="4">timeout (in seconds)</param>
-        <param index="5">Empty</param>
-        <param index="6">Empty</param>
+        <param index="5">motor count (number of motors to test to test in sequence, waiting for the timeout above between them; 0=1 motor, 1=1 motor, 2=2 motors...)</param>
+        <param index="6">motor test order (See MOTOR_TEST_ORDER enum)</param>
         <param index="7">Empty</param>
       </entry>
       <entry value="210" name="MAV_CMD_DO_INVERTED_FLIGHT">
@@ -2311,6 +2311,18 @@
       </entry>
     </enum>
     <!-- motor test type enum -->
+    <enum name="MOTOR_TEST_ORDER">
+      <entry name="MOTOR_TEST_ORDER_DEFAULT" value="0">
+        <description>default autopilot motor test method</description>
+      </entry>
+      <entry name="MOTOR_TEST_ORDER_SEQUENCE" value="1">
+        <description>motor numbers are specified as their index in a predefined vehicle-specific sequence</description>
+      </entry>
+      <entry name="MOTOR_TEST_ORDER_BOARD" value="2">
+        <description>motor numbers are specified as the output as labeled on the board</description>
+      </entry>
+    </enum>
+    <!-- motor test throttle type enum -->
     <enum name="MOTOR_TEST_THROTTLE_TYPE">
       <entry value="0" name="MOTOR_TEST_THROTTLE_PERCENT">
         <description>throttle as a percentage from 0 ~ 100</description>