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SRV_Channel: added get_motor_function()

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for correct handling of motors 8 and above
This commit is contained in:
Andrew Tridgell 2017-10-23 14:16:14 +11:00
parent 45d6f3bf75
commit 381e2fd69a
1 changed files with 8 additions and 0 deletions
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8
libraries/SRV_Channel/SRV_Channel.h
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@ -405,6 +405,14 @@ public:
static bool upgrade_parameters(const uint8_t old_keys[14], uint16_t aux_channel_mask, RCMapper *rcmap);
static void upgrade_motors_servo(uint8_t ap_motors_key, uint8_t ap_motors_idx, uint8_t new_channel);
// given a zero-based motor channel, return the k_motor function for that channel
static SRV_Channel::Aux_servo_function_t get_motor_function(uint8_t channel) {
if (channel < 8) {
return SRV_Channel::Aux_servo_function_t(SRV_Channel::k_motor1+channel);
}
return SRV_Channel::Aux_servo_function_t((SRV_Channel::k_motor9+(channel-8)));
}
private:
struct {
bool k_throttle_reversible:1;