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AP_BLHeli: move OTYPE to use RCOutput::MODE not AP_Motors::PWM_TYPE

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Iampete1 2021-09-22 16:19:34 +01:00 committed by Andrew Tridgell
parent 9106835c93
commit 436f9a3f46
1 changed files with 15 additions and 27 deletions
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42
libraries/AP_BLHeli/AP_BLHeli.cpp
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@ -1315,43 +1315,31 @@ void AP_BLHeli::init(void)
allow mode override - this makes it possible to use DShot for
rovers and subs, plus for quadplane fwd motors
*/
AP_HAL::RCOutput::output_mode mode = AP_HAL::RCOutput::MODE_PWM_NONE;
AP_Motors::pwm_type otype = AP_Motors::pwm_type(output_type.get());
// +1 converts from AP_Motors::pwm_type to AP_HAL::RCOutput::output_mode and saves doing a param conversion
// this is the only use of the param, but this is still a bit of a hack
const int16_t type = output_type.get() + 1;
AP_HAL::RCOutput::output_mode otype = ((type > AP_HAL::RCOutput::MODE_PWM_NONE) && (type < AP_HAL::RCOutput::MODE_NEOPIXEL)) ? AP_HAL::RCOutput::output_mode(type) : AP_HAL::RCOutput::MODE_PWM_NONE;
switch (otype) {
case AP_Motors::PWM_TYPE_ONESHOT:
mode = AP_HAL::RCOutput::MODE_PWM_ONESHOT;
break;
case AP_Motors::PWM_TYPE_ONESHOT125:
mode = AP_HAL::RCOutput::MODE_PWM_ONESHOT125;
break;
case AP_Motors::PWM_TYPE_BRUSHED:
mode = AP_HAL::RCOutput::MODE_PWM_BRUSHED;
break;
case AP_Motors::PWM_TYPE_DSHOT150:
mode = AP_HAL::RCOutput::MODE_PWM_DSHOT150;
break;
case AP_Motors::PWM_TYPE_DSHOT300:
mode = AP_HAL::RCOutput::MODE_PWM_DSHOT300;
break;
case AP_Motors::PWM_TYPE_DSHOT600:
mode = AP_HAL::RCOutput::MODE_PWM_DSHOT600;
break;
case AP_Motors::PWM_TYPE_DSHOT1200:
mode = AP_HAL::RCOutput::MODE_PWM_DSHOT1200;
case AP_HAL::RCOutput::MODE_PWM_ONESHOT:
case AP_HAL::RCOutput::MODE_PWM_ONESHOT125:
case AP_HAL::RCOutput::MODE_PWM_BRUSHED:
case AP_HAL::RCOutput::MODE_PWM_DSHOT150:
case AP_HAL::RCOutput::MODE_PWM_DSHOT300:
case AP_HAL::RCOutput::MODE_PWM_DSHOT600:
case AP_HAL::RCOutput::MODE_PWM_DSHOT1200:
if (mask) {
hal.rcout->set_output_mode(mask, otype);
}
break;
default:
break;
}
if (mask && mode != AP_HAL::RCOutput::MODE_PWM_NONE) {
hal.rcout->set_output_mode(mask, mode);
}
uint16_t digital_mask = 0;
// setting the digital mask changes the min/max PWM values
// it's important that this is NOT done for non-digital channels as otherwise
// PWM min can result in motors turning. set for individual overrides first
if (mask && otype >= AP_Motors::PWM_TYPE_DSHOT150) {
if (mask && otype >= AP_HAL::RCOutput::MODE_PWM_DSHOT150) {
digital_mask = mask;
}