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HAL_PX4: fixed oneshot125 on non-alt outputs

This commit is contained in:
Andrew Tridgell 2018-05-11 16:05:01 +10:00
parent 00d4b5165d
commit 219d429929
1 changed files with 7 additions and 4 deletions
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11
libraries/AP_HAL_PX4/RCOutput.cpp
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@ -356,10 +356,13 @@ void PX4RCOutput::write(uint8_t ch, uint16_t period_us)
}
if (_output_mode == MODE_PWM_ONESHOT125) {
// we treat oneshot125 very simply on HAL_PX4, with 1us
// resolution. Correctly handling it would use a 125 nsec
// step size, to give the full 1000 steps
period_us /= 8;
if (((ch < _servo_count) && ((1U<<ch) & _rate_mask_main)) ||
((ch >= _servo_count) && ((1U<<(ch-_servo_count)) & _rate_mask_alt))) {
// we treat oneshot125 very simply on HAL_PX4, with 1us
// resolution. Correctly handling it would use a 125 nsec
// step size, to give the full 1000 steps
period_us /= 8;
}
}
// keep unscaled value