test_rc.c

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/**
 * @file test_rc.c
 * Tests RC input.
 */

#include <px4_platform_common/px4_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 <arch/board/board.h>
#include <drivers/drv_pwm_output.h>
#include <drivers/drv_rc_input.h>
#include <drivers/drv_hrt.h>
#include <systemlib/err.h>

#include "tests_main.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 input_rc_s rc_input;
    struct input_rc_s rc_last;
    orb_copy(ORB_ID(input_rc), _rc_sub, &rc_input);
    px4_usleep(100000);

    /* open PPM input and expect values close to the output values */

    bool rc_updated;
    orb_check(_rc_sub, &rc_updated);

    PX4_INFO("Reading PPM values - press any key to abort");
    PX4_INFO("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 (abs(rc_input.values[i] - rc_last.values[i]) > 20) {
                            PX4_ERR("comparison fail: RC: %d, expected: %d", rc_input.values[i], rc_last.values[i]);
                            (void)orb_unsubscribe(_rc_sub);
                            return ERROR;
                        }

                        rc_last.values[i] = rc_input.values[i];
                    }

                    if (rc_last.channel_count != rc_input.channel_count) {
                        PX4_ERR("channel count mismatch: last: %d, now: %d", rc_last.channel_count, rc_input.channel_count);
                        (void)orb_unsubscribe(_rc_sub);
                        return ERROR;
                    }

                    if (hrt_absolute_time() - rc_input.timestamp_last_signal > 100000) {
                        PX4_ERR("TIMEOUT, less than 10 Hz updates");
                        (void)orb_unsubscribe(_rc_sub);
                        return ERROR;
                    }

                } else {
                    /* key pressed, bye bye */
                    return 0;
                }

            }
        }

    } else {
        PX4_ERR("failed reading RC input data");
        return ERROR;
    }

    PX4_INFO("PPM CONTINUITY TEST PASSED SUCCESSFULLY!");

    return 0;
}