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AP_Periph: mark ESC DShot channels as digital

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this allows them to get the right default MIN and MAX values on the
channels
This commit is contained in:
Andrew Tridgell 2022-04-27 16:33:12 +10:00
parent 8c3d2205cb
commit 406de11fe9
1 changed files with 7 additions and 1 deletions
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8
Tools/AP_Periph/rc_out.cpp
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@ -59,7 +59,13 @@ void AP_Periph_FW::rcout_init()
}
// setup ESCs with the desired PWM type, allowing for DShot
hal.rcout->set_output_mode(esc_mask, (AP_HAL::RCOutput::output_mode)g.esc_pwm_type.get());
const auto esc_type = (AP_HAL::RCOutput::output_mode)g.esc_pwm_type.get();
hal.rcout->set_output_mode(esc_mask, esc_type);
if (esc_type >= AP_HAL::RCOutput::MODE_PWM_DSHOT150 &&
esc_type <= AP_HAL::RCOutput::MODE_PWM_DSHOT1200) {
SRV_Channels::set_digital_outputs(esc_mask, 0);
}
// run this once and at 1Hz to configure aux and esc ranges
rcout_init_1Hz();