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vehicle-setup: allow testing all configured ArduSub motors #4135

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vehicle-setup: allow testing all configured ArduSub motors #4135

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17 changes: 11 additions & 6 deletions core/frontend/src/components/vehiclesetup/PwmSetup.vue
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Original file line number Diff line number Diff line change
Expand Up @@ -260,11 +260,15 @@ export default Vue.extend({
return autopilot.firmware_vehicle_type === FirmwareVehicleType.ArduSub
},
available_sub_motors(): MotorTestTarget[] {
return this.servo_function_parameters.filter(
(parameter) => parameter.value >= SERVO_FUNCTION.MOTOR1 && parameter.value <= SERVO_FUNCTION.MOTOR8,
).map((parameter) => {
return this.servo_function_parameters.map((parameter) => {
const function_name = SERVO_FUNCTION[parameter.value]
const motor_function_match = /^MOTOR(\d+)$/.exec(function_name)
if (!motor_function_match) {
return undefined
}

const servo_number = parseInt(/\d+/g.exec(parameter.name)?.[0] ?? '0', 10)
const motor_number = parseInt(/\d+/g.exec(printParam(parameter))?.[0] ?? '0', 10)
const motor_number = parseInt(motor_function_match[1], 10)
const name = this.effective_param_value_map.Submarine?.[parameter.name] ?? `Motor ${motor_number}`
const direction_parameter = autopilot_data.parameterRegex(`MOT_${motor_number}_DIRECTION`)?.[0]
const target = motor_number - 1
Expand All @@ -273,10 +277,11 @@ export default Vue.extend({
servo: servo_number,
motor: motor_number,
target,
direction: direction_parameter.value,
direction: direction_parameter?.value ?? 1.0,
reverse_parameter: direction_parameter,
}
}).sort((a, b) => a.motor - b.motor)
}).filter((motor): motor is MotorTestTarget => motor !== undefined)
.sort((a, b) => a.motor - b.motor)
},
available_motors(): MotorTestTarget[] {
if (this.is_rover) {
Expand Down