case MAV_CMD_DO_MOTOR_TEST:
// param1 : motor sequence number (a number from 1 to max number of motors on the vehicle)
// param2 : throttle type (0=throttle percentage, 1=PWM, 2=pilot throttle channel pass-through. See MOTOR_TEST_THROTTLE_TYPE enum)
// param3 : throttle (range depends upon param2)
// param4 : timeout (in seconds)
// param5 : num_motors (in sequence)
// param6 : compass learning (0: disabled, 1: enabled)
result = copter.mavlink_motor_test_start(chan, (uint8_t)packet.param1, (uint8_t)packet.param2, (uint16_t)packet.param3,
packet.param4, (uint8_t)packet.param5);
break;
./ArduCopter/GCS_Mavlink.cpp

本文详细解析了MAV_CMD_DO_MOTOR_TEST指令的参数及其在无人机控制系统中的应用,包括电机测试序列号、油门类型、油门值、超时时间和磁罗盘学习等关键参数。
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