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Add MAV_CMD_DO_SET_MOTOR definition #27

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merged 1 commit into from May 4, 2017
Merged

Add MAV_CMD_DO_SET_MOTOR definition #27

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18 changes: 15 additions & 3 deletions message_definitions/v1.0/common.xml
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Expand Up @@ -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">
Expand Down Expand Up @@ -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>
Expand Down