MotorTest client

To test motors, request the IMotorTestClient microservice from a device instance.

var motorTestClient = device.GetMicroservice<IMotorTestClient>()
    ?? throw new Exception("No motor test client found");

Usage

Retrieve the list of testable motors from the connected device and read their telemetry:

// Access telemetry for each test motor
foreach (var motor in motorTestClient.TestMotors)
{
    Console.WriteLine($"ID: {motor.Id}, Servo channel: {motor.ServoChannel}, PWM: {motor.Pwm}, Test running: {motor.IsTestRun}");
}

To run a test, first select a motor:

var testMotor = motorTestClient.TestMotors.First();

// Start a 10-second test of the selected motor at 50% power
var result = await testMotor.StartTest(50, 10);

if (result == MavResult.MavResultAccepted)
{
    Console.WriteLine($"Test for motor #{testMotor.Id} has started");
}

// Stop a test
await testMotor.StopTest();

Refresh the available motors if the vehicle configuration changes:

// Refresh
await motorTestClient.Refresh();

IMotorTestClient

Property	Type	Description
`TestMotors`	`IReadOnlyObservableList<ITestMotor>`	Testable motors with telemetry support.

Method	Return Type	Description
`Refresh(CancellationToken cancellationToken = default)`	`Task`	Updates `TestMotors` collection when the vehicle type changes.

`IMotorTestClient.Refresh`

Parameter	Type	Description
`cancellationToken`	`CancellationToken`	An optional token to cancel the operation.

Implementations

The current implementation of IMotorTestClient and ITestMotor supports ArduCopter devices:

ArduCopter devices

Last modified: 16 July 2026