From 4557c8ad0454357af5cfb858cec5a9b57e83acd0 Mon Sep 17 00:00:00 2001 From: Andrew Tridgell Date: Mon, 16 May 2022 07:30:17 +1000 Subject: [PATCH] AP_ToshibaCAN: more changes for 32 bit servo mask --- libraries/AP_ToshibaCAN/AP_ToshibaCAN.h | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/libraries/AP_ToshibaCAN/AP_ToshibaCAN.h b/libraries/AP_ToshibaCAN/AP_ToshibaCAN.h index c638631c20..fd4da73855 100644 --- a/libraries/AP_ToshibaCAN/AP_ToshibaCAN.h +++ b/libraries/AP_ToshibaCAN/AP_ToshibaCAN.h @@ -44,7 +44,7 @@ public: void update(); // return a bitmask of escs that are "present" which means they are responding to requests. Bitmask matches RC outputs - uint16_t get_present_mask() const { return _esc_present_bitmask; } + uint32_t get_present_mask() const { return _esc_present_bitmask; } private: @@ -106,8 +106,8 @@ private: const float amp_ms_to_mah = 1.0f / 3600.0f; // for converting amp milliseconds to mAh // variables for updating bitmask of responsive escs - uint16_t _esc_present_bitmask; // bitmask of which escs seem to be present - uint16_t _esc_present_bitmask_recent; // bitmask of escs that have responded in the last second + uint32_t _esc_present_bitmask; // bitmask of which escs seem to be present + uint32_t _esc_present_bitmask_recent; // bitmask of escs that have responded in the last second uint32_t _esc_present_update_ms; // system time _esc_present_bitmask was last updated // structure for sending motor lock command to ESC