From 8ad94d6872b2efda06ea1020a50ec9d8a0fa88ba Mon Sep 17 00:00:00 2001
From: Willian Galvani <williangalvani@gmail.com>
Date: Wed, 16 Dec 2020 18:04:40 -0300
Subject: [PATCH] Sub motor test fixes (#9243)

* APMSubMotorComponent.qml: do not send motor test messages after disarm command

* Vehicle: Change signature of motorTest to allow not showing errors

* APMMotorComponent.qml: Update to use new signature of motorTest()

* APMSubMotorComponent.qml: Update to use new signature of motorTest() with showErrors=false

* MotorComponent.qml: Update to use new signature of motorTest()
---
 src/AutoPilotPlugins/APM/APMMotorComponent.qml    | 2 +-
 src/AutoPilotPlugins/APM/APMSubMotorComponent.qml | 6 +++---
 src/AutoPilotPlugins/Common/MotorComponent.qml    | 2 +-
 src/Vehicle/Vehicle.cc                            | 4 ++--
 src/Vehicle/Vehicle.h                             | 2 +-
 5 files changed, 8 insertions(+), 8 deletions(-)

diff --git a/src/AutoPilotPlugins/APM/APMMotorComponent.qml b/src/AutoPilotPlugins/APM/APMMotorComponent.qml
index 9be8d51..cd39f3c 100644
--- a/src/AutoPilotPlugins/APM/APMMotorComponent.qml
+++ b/src/AutoPilotPlugins/APM/APMMotorComponent.qml
@@ -69,7 +69,7 @@ SetupPage {
                             updateValueWhileDragging:   false
 
                             onValueChanged: {
-                                controller.vehicle.motorTest(index + 1, value, value == 0 ? 0 : _motorTimeoutSecs)
+                                controller.vehicle.motorTest(index + 1, value, value == 0 ? 0 : _motorTimeoutSecs, true)
                                 if (value != 0) {
                                     motorTimer.restart()
                                 }
diff --git a/src/AutoPilotPlugins/APM/APMSubMotorComponent.qml b/src/AutoPilotPlugins/APM/APMSubMotorComponent.qml
index 9400f20..695ec30 100644
--- a/src/AutoPilotPlugins/APM/APMSubMotorComponent.qml
+++ b/src/AutoPilotPlugins/APM/APMSubMotorComponent.qml
@@ -279,7 +279,7 @@ SetupPage {
                 id: timer
                 interval:       50
                 repeat:         true
-                running:        canRunManualTest
+                running:        canRunManualTest && shouldRunManualTest
 
                 onTriggered: {
                     if (controller.vehicle.armed) {
@@ -288,9 +288,9 @@ SetupPage {
                             var reversed = controller.getParameterFact(-1, "MOT_" + (_lastIndex + 1) + "_DIRECTION").value == -1
 
                             if (reversed) {
-                                controller.vehicle.motorTest(_lastIndex, 100 - slider.motorSlider.value, 0)
+                                controller.vehicle.motorTest(_lastIndex, 100 - slider.motorSlider.value, 0, false)
                             } else {
-                                controller.vehicle.motorTest(_lastIndex, slider.motorSlider.value, 0)
+                                controller.vehicle.motorTest(_lastIndex, slider.motorSlider.value, 0, false)
                             }
                     }
                 }
diff --git a/src/AutoPilotPlugins/Common/MotorComponent.qml b/src/AutoPilotPlugins/Common/MotorComponent.qml
index 0d7494c..95812d7 100644
--- a/src/AutoPilotPlugins/Common/MotorComponent.qml
+++ b/src/AutoPilotPlugins/Common/MotorComponent.qml
@@ -69,7 +69,7 @@ SetupPage {
                             updateValueWhileDragging:   false
 
                             onValueChanged: {
-                                controller.vehicle.motorTest(index + 1, value, value == 0 ? 0 : _motorTimeoutSecs)
+                                controller.vehicle.motorTest(index + 1, value, value == 0 ? 0 : _motorTimeoutSecs, true)
                                 if (value != 0) {
                                     motorTimer.restart()
                                 }
diff --git a/src/Vehicle/Vehicle.cc b/src/Vehicle/Vehicle.cc
index 4425722..b7eb2e5 100644
--- a/src/Vehicle/Vehicle.cc
+++ b/src/Vehicle/Vehicle.cc
@@ -3150,9 +3150,9 @@ void Vehicle::setSoloFirmware(bool soloFirmware)
     }
 }
 
-void Vehicle::motorTest(int motor, int percent, int timeoutSecs)
+void Vehicle::motorTest(int motor, int percent, int timeoutSecs, bool showError)
 {
-    sendMavCommand(_defaultComponentId, MAV_CMD_DO_MOTOR_TEST, true, motor, MOTOR_TEST_THROTTLE_PERCENT, percent, timeoutSecs, 0, MOTOR_TEST_ORDER_BOARD);
+    sendMavCommand(_defaultComponentId, MAV_CMD_DO_MOTOR_TEST, showError, motor, MOTOR_TEST_THROTTLE_PERCENT, percent, timeoutSecs, 0, MOTOR_TEST_ORDER_BOARD);
 }
 
 QString Vehicle::brandImageIndoor() const
diff --git a/src/Vehicle/Vehicle.h b/src/Vehicle/Vehicle.h
index 40db328..d6ae66f 100644
--- a/src/Vehicle/Vehicle.h
+++ b/src/Vehicle/Vehicle.h
@@ -372,7 +372,7 @@ public:
     ///     @param motor Motor number, 1-based
     ///     @param percent 0-no power, 100-full power
     ///     @param timeoutSec Disabled motor after this amount of time
-    Q_INVOKABLE void motorTest(int motor, int percent, int timeoutSecs);
+    Q_INVOKABLE void motorTest(int motor, int percent, int timeoutSecs, bool showError);
 
     Q_INVOKABLE void setPIDTuningTelemetryMode(bool pidTuning);