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ArduPlane: move to a uint32_t motor mask

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Peter Barker 2025-01-18 09:30:17 +11:00 committed by Peter Barker
parent 98e4037868
commit 1deea810e8
2 changed files with 3 additions and 3 deletions
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2
ArduPlane/tailsitter.cpp
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@ -336,7 +336,7 @@ void Tailsitter::output(void)
if (!quadplane.assisted_flight) {
// set AP_MotorsMatrix throttles for forward flight
motors->output_motor_mask(throttle, motor_mask, plane.rudder_dt);
motors->output_motor_mask(throttle, uint32_t(motor_mask.get()), plane.rudder_dt);
// No tilt output unless forward gain is set
float tilt_left = 0.0;

4
ArduPlane/tiltrotor.cpp
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@ -245,7 +245,7 @@ void Tiltrotor::continuous_update(void)
}
if (!quadplane.motor_test.running) {
// the motors are all the way forward, start using them for fwd thrust
const uint16_t mask = is_zero(current_throttle)?0U:tilt_mask.get();
const uint32_t mask = is_zero(current_throttle) ? 0U : tilt_mask.get();
motors->output_motor_mask(current_throttle, mask, plane.rudder_dt);
}
return;
@ -365,7 +365,7 @@ void Tiltrotor::binary_update(void)
float new_throttle = SRV_Channels::get_output_scaled(SRV_Channel::k_throttle)*0.01f;
if (current_tilt >= 1) {
const uint16_t mask = is_zero(new_throttle)?0U:tilt_mask.get();
const uint32_t mask = is_zero(new_throttle) ? 0 : tilt_mask.get();
// the motors are all the way forward, start using them for fwd thrust
motors->output_motor_mask(new_throttle, mask, plane.rudder_dt);
}