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AP_IOMCU: fixed check for BLHeli support

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This commit is contained in:
Andrew Tridgell 2024-02-02 10:53:49 +11:00
parent fdf2599329
commit 5fb71e945c
1 changed files with 4 additions and 3 deletions
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7
libraries/AP_IOMCU/AP_IOMCU.cpp
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@ -19,6 +19,7 @@
#include <AP_InternalError/AP_InternalError.h>
#include <AP_Logger/AP_Logger.h>
#include <AP_Arming/AP_Arming.h>
#include <AP_BLHeli/AP_BLHeli.h>
#include <ch.h>
extern const AP_HAL::HAL &hal;
@ -117,7 +118,7 @@ void AP_IOMCU::thread_main(void)
uart.begin(1500*1000, 128, 128);
uart.set_unbuffered_writes(true);
#if HAL_WITH_IO_MCU_BIDIR_DSHOT
#if HAVE_AP_BLHELI_SUPPORT && HAL_WITH_IO_MCU_BIDIR_DSHOT
AP_BLHeli* blh = AP_BLHeli::get_singleton();
uint16_t erpm_period_ms = 10; // default 100Hz
if (blh && blh->get_telemetry_rate() > 0) {
@ -318,7 +319,7 @@ void AP_IOMCU::thread_main(void)
read_servo();
last_servo_read_ms = AP_HAL::millis();
}
#if HAL_WITH_IO_MCU_BIDIR_DSHOT
#if HAVE_AP_BLHELI_SUPPORT && HAL_WITH_IO_MCU_BIDIR_DSHOT
if (AP_BoardConfig::io_dshot() && now - last_erpm_read_ms > erpm_period_ms) {
// read erpm at configured rate. A more efficient scheme might be to
// send erpm info back with the response from a PWM send, but that would
@ -398,7 +399,7 @@ void AP_IOMCU::read_rc_input()
}
}
#if HAL_WITH_IO_MCU_BIDIR_DSHOT
#if HAVE_AP_BLHELI_SUPPORT && HAL_WITH_IO_MCU_BIDIR_DSHOT
/*
read dshot erpm
*/