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Copter: 32 servo conversion

This commit is contained in:
Andrew Tridgell 2022-05-16 07:29:27 +10:00
parent 32f8062b3e
commit 424c3b953a
2 changed files with 3 additions and 3 deletions
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4
ArduCopter/AP_Arming.cpp
View File

@ -318,8 +318,8 @@ bool AP_Arming_Copter::motor_checks(bool display_failure)
// check we have an ESC present for every SERVOx_FUNCTION = motorx // check we have an ESC present for every SERVOx_FUNCTION = motorx
// find and report first missing ESC, extra ESCs are OK // find and report first missing ESC, extra ESCs are OK
AP_ToshibaCAN *tcan = AP_ToshibaCAN::get_tcan(tcan_index); AP_ToshibaCAN *tcan = AP_ToshibaCAN::get_tcan(tcan_index);
const uint16_t motors_mask = copter.motors->get_motor_mask(); const uint32_t motors_mask = copter.motors->get_motor_mask();
const uint16_t esc_mask = tcan->get_present_mask(); const uint32_t esc_mask = tcan->get_present_mask();
uint8_t escs_missing = 0; uint8_t escs_missing = 0;
uint8_t first_missing = 0; uint8_t first_missing = 0;
for (uint8_t i = 0; i < 16; i++) { for (uint8_t i = 0; i < 16; i++) {

2
ArduCopter/afs_copter.cpp
View File

@ -45,7 +45,7 @@ void AP_AdvancedFailsafe_Copter::setup_IO_failsafe(void)
#if FRAME_CONFIG != HELI_FRAME #if FRAME_CONFIG != HELI_FRAME
// setup AP_Motors outputs for failsafe // setup AP_Motors outputs for failsafe
uint16_t mask = copter.motors->get_motor_mask(); uint32_t mask = copter.motors->get_motor_mask();
hal.rcout->set_failsafe_pwm(mask, copter.motors->get_pwm_output_min()); hal.rcout->set_failsafe_pwm(mask, copter.motors->get_pwm_output_min());
#endif #endif
} }