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AP_Motors: fixed motor channel handling

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This commit is contained in:
Andrew Tridgell 2017-10-23 14:16:13 +11:00
parent 9693da751e
commit 45d6f3bf75
2 changed files with 4 additions and 9 deletions
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2
libraries/AP_Motors/AP_MotorsHeli_Quad.cpp
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@ -70,7 +70,7 @@ bool AP_MotorsHeli_Quad::init_outputs()
}
for (uint8_t i=0; i<AP_MOTORS_HELI_QUAD_NUM_MOTORS; i++) {
_servo[i] = SRV_Channels::get_channel_for(SRV_Channel::Aux_servo_function_t(SRV_Channel::k_motor1+i), CH_1+i);
_servo[i] = SRV_Channels::get_channel_for(SRV_Channels::get_motor_function(i), CH_1+i);
if (!_servo[i]) {
return false;
}

11
libraries/AP_Motors/AP_Motors_Class.cpp
View File

@ -97,7 +97,7 @@ void AP_Motors::rc_write(uint8_t chan, uint16_t pwm)
pwm = 250;
}
}
SRV_Channel::Aux_servo_function_t function = (SRV_Channel::Aux_servo_function_t)((uint8_t)SRV_Channel::k_motor1 + chan);
SRV_Channel::Aux_servo_function_t function = SRV_Channels::get_motor_function(chan);
SRV_Channels::set_output_pwm(function, pwm);
}
@ -133,7 +133,7 @@ uint32_t AP_Motors::rc_map_mask(uint32_t mask) const
for (uint8_t i=0; i<32; i++) {
uint32_t bit = 1UL<<i;
if (mask & bit) {
SRV_Channel::Aux_servo_function_t function = (SRV_Channel::Aux_servo_function_t)((uint8_t)SRV_Channel::k_motor1 + i);
SRV_Channel::Aux_servo_function_t function = SRV_Channels::get_motor_function(i);
mask2 |= SRV_Channels::get_output_channel_mask(function);
}
}
@ -184,12 +184,7 @@ void AP_Motors::add_motor_num(int8_t motor_num)
// ensure valid motor number is provided
if( motor_num >= 0 && motor_num < AP_MOTORS_MAX_NUM_MOTORS ) {
uint8_t chan;
SRV_Channel::Aux_servo_function_t function;
if (motor_num < 8) {
function = (SRV_Channel::Aux_servo_function_t)(SRV_Channel::k_motor1+motor_num);
} else {
function = (SRV_Channel::Aux_servo_function_t)(SRV_Channel::k_motor9+(motor_num-8));
}
SRV_Channel::Aux_servo_function_t function = SRV_Channels::get_motor_function(motor_num);
SRV_Channels::set_aux_channel_default(function, motor_num);
if (!SRV_Channels::find_channel(function, chan)) {
gcs().send_text(MAV_SEVERITY_ERROR, "Motors: unable to setup motor %u", motor_num);