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SRV_Channel: propagate ESC type into rcout

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This commit is contained in:
Andy Piper 2021-04-28 21:50:49 +01:00 committed by Andrew Tridgell
parent d23a0bc23d
commit 18366a4b6d
2 changed files with 12 additions and 1 deletions
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5
libraries/SRV_Channel/SRV_Channel.h
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@ -13,6 +13,7 @@
*/ */
#pragma once #pragma once
#include <AP_HAL/AP_HAL.h>
#include <AP_Common/AP_Common.h> #include <AP_Common/AP_Common.h>
#include <AP_Param/AP_Param.h> #include <AP_Param/AP_Param.h>
#include <AP_Common/Bitmask.h> #include <AP_Common/Bitmask.h>
@ -470,6 +471,9 @@ public:
// calculate PWM for all channels // calculate PWM for all channels
static void calc_pwm(void); static void calc_pwm(void);
// return the ESC type for dshot commands
static AP_HAL::RCOutput::DshotEscType get_dshot_esc_type() { return AP_HAL::RCOutput::DshotEscType(_singleton->dshot_esc_type.get()); }
static SRV_Channel *srv_channel(uint8_t i) { static SRV_Channel *srv_channel(uint8_t i) {
return i<NUM_SERVO_CHANNELS?&channels[i]:nullptr; return i<NUM_SERVO_CHANNELS?&channels[i]:nullptr;
} }
@ -578,6 +582,7 @@ private:
AP_Int8 auto_trim; AP_Int8 auto_trim;
AP_Int16 default_rate; AP_Int16 default_rate;
AP_Int8 dshot_rate; AP_Int8 dshot_rate;
AP_Int8 dshot_esc_type;
// return true if passthrough is disabled // return true if passthrough is disabled
static bool passthrough_disabled(void) { static bool passthrough_disabled(void) {

8
libraries/SRV_Channel/SRV_Channels.cpp
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@ -202,6 +202,13 @@ const AP_Param::GroupInfo SRV_Channels::var_info[] = {
// @User: Advanced // @User: Advanced
AP_GROUPINFO("_DSHOT_RATE", 23, SRV_Channels, dshot_rate, 0), AP_GROUPINFO("_DSHOT_RATE", 23, SRV_Channels, dshot_rate, 0),
// @Param: _DSHOT_ESC
// @DisplayName: Servo DShot ESC type
// @Description: This sets the DShot ESC type for all outputs. The ESC type affects the range of DShot commands available. None means that no dshot commands will be executed.
// @Values: 0:None,1:BLHeli32/BLHeli_S/Kiss
// @User: Advanced
AP_GROUPINFO("_DSHOT_ESC", 24, SRV_Channels, dshot_esc_type, 0),
AP_GROUPEND AP_GROUPEND
}; };
@ -229,7 +236,6 @@ SRV_Channels::SRV_Channels(void)
blheli_ptr = &blheli; blheli_ptr = &blheli;
#endif #endif
#endif // HAL_BUILD_AP_PERIPH #endif // HAL_BUILD_AP_PERIPH
} }
// SRV_Channels initialization // SRV_Channels initialization