mirror of https://github.com/ArduPilot/ardupilot
APM_RC_APM1.cpp: Bugfix on mapping of SetFastOutputChannels to ICR reg
* Previously had the ICR register for ch1/2/9 (on timer5) swapped with ch3/4/10 (on timer1). * This bug probably didn't make a difference in operation since SetFastOutputChannels is typically only used for copters, where at least CH1,2,3,4 would be set to fast all at once.
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@ -271,11 +271,11 @@ void APM_RC_APM1::SetFastOutputChannels(uint32_t chmask, uint16_t speed_hz)
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uint16_t icr = _map_speed(speed_hz);
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if ((chmask & ( _BV(CH_1) | _BV(CH_2) | _BV(CH_9))) != 0) {
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ICR1 = icr;
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ICR5 = icr;
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}
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if ((chmask & ( _BV(CH_3) | _BV(CH_4) | _BV(CH_10))) != 0) {
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ICR5 = icr;
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ICR1 = icr;
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}
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#if 0
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