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AP_Periph: fixed ESC output

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should be range, not angle
This commit is contained in:
Andrew Tridgell 2021-03-14 11:03:12 +11:00
parent dda69bfcb0
commit 50d5fced54
1 changed files with 3 additions and 2 deletions
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5
Tools/AP_Periph/rc_out.cpp
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@ -45,7 +45,7 @@ void AP_Periph_FW::rcout_init()
uint16_t esc_mask = 0;
for (uint8_t i=0; i<SERVO_OUT_MOTOR_MAX; i++) {
SRV_Channels::set_angle(SRV_Channels::get_motor_function(i), UAVCAN_ESC_MAX_VALUE);
SRV_Channels::set_range(SRV_Channels::get_motor_function(i), UAVCAN_ESC_MAX_VALUE);
uint8_t chan;
if (SRV_Channels::find_channel(SRV_Channels::get_motor_function(i), chan)) {
esc_mask |= 1U << chan;
@ -77,7 +77,8 @@ void AP_Periph_FW::rcout_esc(int16_t *rc, uint8_t num_channels)
const uint8_t channel_count = MIN(num_channels, SERVO_OUT_MOTOR_MAX);
for (uint8_t i=0; i<channel_count; i++) {
SRV_Channels::set_output_scaled(SRV_Channels::get_motor_function(i), rc[i]);
// we don't support motor reversal yet on ESCs in AP_Periph
SRV_Channels::set_output_scaled(SRV_Channels::get_motor_function(i), MAX(0,rc[i]));
}
rcout_has_new_data_to_update = true;