From 945a5322609ad6dc75ce03e3cc790dec3a712dce Mon Sep 17 00:00:00 2001
From: David Sidrane <david_s5@nscdg.com>
Date: Wed, 12 Sep 2018 15:01:12 -0700
Subject: [PATCH] pwm:Use test mode in steps command
---
src/systemcmds/pwm/pwm.cpp | 15 +++++++++++----
1 file changed, 11 insertions(+), 4 deletions(-)
diff --git a/src/systemcmds/pwm/pwm.cpp b/src/systemcmds/pwm/pwm.cpp
index 4d695fc081..524ba24c04 100644
--- a/src/systemcmds/pwm/pwm.cpp
+++ b/src/systemcmds/pwm/pwm.cpp
@@ -779,6 +779,11 @@ err_out_no_test:
PX4_WARN("Running 5 steps. WARNING! Motors will be live in 5 seconds\nPress any key to abort now.");
sleep(5);
+ if (::ioctl(fd, PWM_SERVO_SET_MODE, PWM_SERVO_ENTER_TEST_MODE) < 0) {
+ PX4_ERR("Failed to Enter pwm test mode");
+ goto err_out_no_test;
+ }
+
unsigned off = 900;
unsigned idle = 1300;
unsigned full = 2000;
@@ -815,7 +820,7 @@ err_out_no_test:
if (ret != OK) {
PX4_ERR("PWM_SERVO_SET(%d)", i);
- return 1;
+ goto err_out;
}
}
}
@@ -836,13 +841,14 @@ err_out_no_test:
if (ret != OK) {
PX4_ERR("PWM_SERVO_SET(%d)", i);
- return 1;
+ goto err_out;
}
}
}
PX4_INFO("User abort\n");
- return 0;
+ rv = 0;
+ goto err_out;
}
}
@@ -868,7 +874,8 @@ err_out_no_test:
}
}
- return 0;
+ rv = 0;
+ goto err_out;
} else if (!strcmp(command, "info")) {
--
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