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AR_Motors: fix brushed motor support for omni vehicles

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Fixes an issue where omni motors (BrushedWithRelay/BrushedBiplor)
are not configured correctly due to initialization order. setup_omni()
must execute first so that _motors_num is set correctly when
setup_pwm_type() uses it to determine which motors are in use.
This commit is contained in:
mattp256 2025-02-06 23:54:41 -06:00 committed by Randy Mackay
parent f320fddca1
commit 0fd3448e31
1 changed files with 5 additions and 4 deletions
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9
libraries/AR_Motors/AP_MotorsUGV.cpp
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@ -132,6 +132,11 @@ void AP_MotorsUGV::init(uint8_t frtype)
{ {
_frame_type = frame_type(frtype); _frame_type = frame_type(frtype);
// setup for omni vehicles
if (_frame_type != FRAME_TYPE_UNDEFINED) {
setup_omni();
}
// setup servo output // setup servo output
setup_servo_output(); setup_servo_output();
@ -141,10 +146,6 @@ void AP_MotorsUGV::init(uint8_t frtype)
// set safety output // set safety output
setup_safety_output(); setup_safety_output();
// setup for omni vehicles
if (_frame_type != FRAME_TYPE_UNDEFINED) {
setup_omni();
}
} }
bool AP_MotorsUGV::get_legacy_relay_index(int8_t &index1, int8_t &index2, int8_t &index3, int8_t &index4) const bool AP_MotorsUGV::get_legacy_relay_index(int8_t &index1, int8_t &index2, int8_t &index3, int8_t &index4) const