diff options
-rw-r--r-- | src/modules/uORB/topics/test_motor.h | 2 | ||||
-rw-r--r-- | src/systemcmds/motor_test/motor_test.c | 23 |
2 files changed, 13 insertions, 12 deletions
diff --git a/src/modules/uORB/topics/test_motor.h b/src/modules/uORB/topics/test_motor.h index 491096934..c880fe099 100644 --- a/src/modules/uORB/topics/test_motor.h +++ b/src/modules/uORB/topics/test_motor.h @@ -57,7 +57,7 @@ struct test_motor_s { uint64_t timestamp; /**< output timestamp in us since system boot */ unsigned motor_number; /**< number of motor to spin */ - float value; /**< output data, in natural output units */ + float value; /**< output power, range [0..1] }; /** diff --git a/src/systemcmds/motor_test/motor_test.c b/src/systemcmds/motor_test/motor_test.c index 079f99674..a73f46626 100644 --- a/src/systemcmds/motor_test/motor_test.c +++ b/src/systemcmds/motor_test/motor_test.c @@ -54,7 +54,8 @@ #include "systemlib/err.h" -__EXPORT int motor_test_main(int argc, char *argv[]); +__EXPORT int motor_test_main(int argc, char *argv[]); + static void motor_test(unsigned channel, float value); static void usage(const char *reason); @@ -67,13 +68,13 @@ void motor_test(unsigned channel, float value) _test_motor.timestamp = hrt_absolute_time(); _test_motor.value = value; - if (_test_motor_pub > 0) { - /* publish armed state */ - orb_publish(ORB_ID(test_motor), _test_motor_pub, &_test_motor); - } else { - /* advertise and publish */ - _test_motor_pub = orb_advertise(ORB_ID(test_motor), &_test_motor); - } + if (_test_motor_pub > 0) { + /* publish test state */ + orb_publish(ORB_ID(test_motor), _test_motor_pub, &_test_motor); + } else { + /* advertise and publish */ + _test_motor_pub = orb_advertise(ORB_ID(test_motor), &_test_motor); + } } static void usage(const char *reason) @@ -102,18 +103,18 @@ int motor_test_main(int argc, char *argv[]) switch (ch) { case 'm': - /* Read in channels supplied as one int and convert to mask: 1234 -> 0xF */ + /* Read in motor number */ channel = strtoul(optarg, NULL, 0); break; case 'p': - /* Read in custom low value */ + /* Read in power value */ lval = strtoul(optarg, NULL, 0); if (lval > 100) usage("value invalid"); - value = (float)lval/100.f; + value = ((float)lval)/100.f; break; default: usage(NULL); |