Developer

New Test Suite

The old Ardupilot test suite was great, but hard to maintain. I just did a new one, but this time, I've built it into Ardupilot itself. 

In your config file for 2.7 you will see DEBUG_SUBSYSTEM at the top.

Here are the values:

0 = no debug
1 = Debug the Radio input
2 = Debug the Servo output
3 = Debug the Sensor input
4 = Debug the GPS input
5 = Debug the GPS input - RAW HEX OUTPUT
6 = Debug the IMU output
7 = Debug the Control Switch


Each one will output only serial data for each subsystem, making it easy for you to isolate problems and verify things are working as they should.

Jason

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3D RoboticsPermalink Reply by Chris Anderson on August 6, 2010 at 10:58pm
Sweet! I'll try to test and update the manual this weekend. Can you post some normal result data sets?
Permalink Reply by Simon on August 6, 2010 at 11:00pm
Great Idea!
Will really help with troubleshooting!
Permalink Reply by Michael White on September 6, 2010 at 2:26pm
Heh all, I've been using the new test suite to great effect, but I'm seeing a particularily queer result. I turned on the servo demo, and now the APM goes into the servo demo any time it's connected to USB.

Anyone else seeing this behavior ?

DeveloperPermalink Reply by Doug Weibel on September 6, 2010 at 2:35pm
If you have not reloaded the firmware with a different value for the debug selection then this is normal. Every time you connect the USB it will reset the board, and hence restart the servo demo.
Permalink Reply by Michael White on September 6, 2010 at 3:02pm
I had reloaded APM serval times with different debug values. Here was the sequence:

1) Load APM with sermo demo on, watch dancing servos with USB power... hurray
2) Load APM with debug 0, on USB power.... servos continue to dance.... hmmm
3) power APM on battery... everything behaves normally.... mmmkay
4) power APM with usb again... dancing resumes (whaaaa ?)
5) repeat step 2 with many different debug options... servos continue to dance IF* servos are attached.

Finally i booted with debug 0 on USB WITHOUT any servos attached and the console didn't report "MSG: Demo Servos!" as it had before... just odd, it seems (at least this once) i needed to disconnect the servos to get it out of it's maniacal dancing ways....

DeveloperPermalink Reply by jasonshort on September 6, 2010 at 3:31pm
Your servos may be to much power draw for the USB causing the upload to fail?

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