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HAL_ChibiOS: removed ESC scaling, moved to AP_HAL

This commit is contained in:
Andrew Tridgell 2023-08-19 16:08:48 +10:00 committed by Peter Barker
parent 64040bfab4
commit 49f1e5d1db
1 changed files with 1 additions and 15 deletions
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16
libraries/AP_HAL_ChibiOS/RCOutput.h
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@ -52,15 +52,7 @@ public:
void read(uint16_t* period_us, uint8_t len) override;
uint16_t read_last_sent(uint8_t ch) override;
void read_last_sent(uint16_t* period_us, uint8_t len) override;
void set_esc_scaling(uint16_t min_pwm, uint16_t max_pwm) override {
_esc_pwm_min = min_pwm;
_esc_pwm_max = max_pwm;
}
bool get_esc_scaling(uint16_t &min_pwm, uint16_t &max_pwm) override {
min_pwm = _esc_pwm_min;
max_pwm = _esc_pwm_max;
return true;
}
// surface dshot telemetry for use by the harmonic notch and status information
#ifdef HAL_WITH_BIDIR_DSHOT
uint16_t get_erpm(uint8_t chan) const override { return _bdshot.erpm[chan]; }
@ -77,10 +69,6 @@ public:
*/
uint32_t get_disabled_channels(uint32_t digital_mask) override;
float scale_esc_to_unity(uint16_t pwm) override {
return 2.0 * ((float) pwm - _esc_pwm_min) / (_esc_pwm_max - _esc_pwm_min) - 1.0;
}
void cork(void) override;
void push(void) override;
@ -510,8 +498,6 @@ private:
static pwm_group pwm_group_list[];
static const uint8_t NUM_GROUPS;
uint16_t _esc_pwm_min;
uint16_t _esc_pwm_max;
// offset of first local channel
uint8_t chan_offset;