1 files changed, 146 insertions, 0 deletions
diff --git a/src/systemcmds/tests/test_rc.c b/src/systemcmds/tests/test_rc.c
new file mode 100644
index 000000000..72619fc8b
--- /dev/null
+++ b/src/systemcmds/tests/test_rc.c
@@ -0,0 +1,146 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2012, 2013 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file test_ppm_loopback.c
+ * Tests the PWM outputs and PPM input
+ *
+ */
+
+#include <nuttx/config.h>
+
+#include <sys/types.h>
+
+#include <stdio.h>
+#include <poll.h>
+#include <stdlib.h>
+#include <unistd.h>
+#include <fcntl.h>
+#include <errno.h>
+#include <debug.h>
+
+#include <arch/board/board.h>
+#include <drivers/drv_pwm_output.h>
+#include <drivers/drv_rc_input.h>
+#include <systemlib/err.h>
+
+#include "tests.h"
+
+#include <math.h>
+#include <float.h>
+
+int test_rc(int argc, char *argv[])
+{
+
+	int _rc_sub = orb_subscribe(ORB_ID(input_rc));
+
+	/* read low-level values from FMU or IO RC inputs (PPM, Spektrum, S.Bus) */
+	struct rc_input_values	rc_input;
+	struct rc_input_values	rc_last;
+	orb_copy(ORB_ID(input_rc), _rc_sub, &rc_input);
+	usleep(100000);
+
+	/* open PPM input and expect values close to the output values */
+
+	bool rc_updated;
+	orb_check(_rc_sub, &rc_updated);
+
+	warnx("Reading PPM values - press any key to abort");
+	warnx("This test guarantees: 10 Hz update rates, no glitches (channel values), no channel count changes.");
+
+	if (rc_updated) {
+
+		/* copy initial set */
+		for (unsigned i = 0; i < rc_input.channel_count; i++) {
+			rc_last.values[i] = rc_input.values[i];
+		}
+
+		rc_last.channel_count = rc_input.channel_count;
+
+		/* poll descriptor */
+		struct pollfd fds[2];
+		fds[0].fd = _rc_sub;
+		fds[0].events = POLLIN;
+		fds[1].fd = 0;
+		fds[1].events = POLLIN;
+
+		while (true) {
+
+			int ret = poll(fds, 2, 200);
+
+			if (ret > 0) {
+
+				if (fds[0].revents & POLLIN) {
+
+					orb_copy(ORB_ID(input_rc), _rc_sub, &rc_input);
+
+					/* go and check values */
+					for (unsigned i = 0; i < rc_input.channel_count; i++) {
+						if (fabsf(rc_input.values[i] - rc_last.values[i]) > 20) {
+							warnx("comparison fail: RC: %d, expected: %d", rc_input.values[i], rc_last.values[i]);
+							(void)close(_rc_sub);
+							return ERROR;
+						}
+
+						rc_last.values[i] = rc_input.values[i];
+					}
+
+					if (rc_last.channel_count != rc_input.channel_count) {
+						warnx("channel count mismatch: last: %d, now: %d", rc_last.channel_count, rc_input.channel_count);
+						(void)close(_rc_sub);
+						return ERROR;
+					}
+
+					if (hrt_absolute_time() - rc_input.timestamp > 100000) {
+						warnx("TIMEOUT, less than 10 Hz updates");
+						(void)close(_rc_sub);
+						return ERROR;
+					} 
+
+				} else {
+					/* key pressed, bye bye */
+					return 0;
+				}
+
+			}
+		}
+
+	} else {
+		warnx("failed reading RC input data");
+		return ERROR;
+	}
+
+	warnx("PPM CONTINUITY TEST PASSED SUCCESSFULLY!");
+
+	return 0;
+}