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HAL_ChibiOS: fixed dshot trigger while serial active

This commit is contained in:
Andrew Tridgell 2018-04-02 16:16:23 +10:00
parent 7c678bd707
commit 5bfc97f9c0
1 changed files with 4 additions and 2 deletions
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6
libraries/AP_HAL_ChibiOS/RCOutput.cpp
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@ -726,7 +726,8 @@ void RCOutput::timer_tick(void)
uint64_t now = AP_HAL::micros64(); uint64_t now = AP_HAL::micros64();
for (uint8_t i = 0; i < NUM_GROUPS; i++ ) { for (uint8_t i = 0; i < NUM_GROUPS; i++ ) {
pwm_group &group = pwm_group_list[i]; pwm_group &group = pwm_group_list[i];
if (group.current_mode >= MODE_PWM_DSHOT150 && if (serial_group != &group &&
group.current_mode >= MODE_PWM_DSHOT150 &&
group.current_mode <= MODE_PWM_DSHOT1200 && group.current_mode <= MODE_PWM_DSHOT1200 &&
now - group.last_dshot_send_us > 900) { now - group.last_dshot_send_us > 900) {
// do a blocking send now, to guarantee DShot sends at // do a blocking send now, to guarantee DShot sends at
@ -737,7 +738,8 @@ void RCOutput::timer_tick(void)
} }
} }
if (trigger_groupmask == 0 || if (trigger_groupmask == 0 ||
min_pulse_trigger_us == 0) { min_pulse_trigger_us == 0 ||
serial_group != nullptr) {
return; return;
} }
if (now > min_pulse_trigger_us && if (now > min_pulse_trigger_us &&