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AP_HAL_ChibiOS: only control widest pulse for dshot and oneshot

This commit is contained in:
Andy Piper 2021-06-30 20:42:50 +01:00 committed by Andrew Tridgell
parent 2ae6030f0c
commit 60b0df0a25
1 changed files with 4 additions and 3 deletions
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7
libraries/AP_HAL_ChibiOS/RCOutput.cpp
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@ -582,14 +582,15 @@ void RCOutput::push_local(void)
period_us = group.dshot_pulse_time_us; period_us = group.dshot_pulse_time_us;
} }
#endif //#ifndef DISABLE_DSHOT #endif //#ifndef DISABLE_DSHOT
if (period_us > widest_pulse) {
widest_pulse = period_us;
}
if (group.current_mode == MODE_PWM_ONESHOT || if (group.current_mode == MODE_PWM_ONESHOT ||
group.current_mode == MODE_PWM_ONESHOT125 || group.current_mode == MODE_PWM_ONESHOT125 ||
group.current_mode == MODE_NEOPIXEL || group.current_mode == MODE_NEOPIXEL ||
group.current_mode == MODE_PROFILED || group.current_mode == MODE_PROFILED ||
is_dshot_protocol(group.current_mode)) { is_dshot_protocol(group.current_mode)) {
// only control widest pulse for oneshot and dshot
if (period_us > widest_pulse) {
widest_pulse = period_us;
}
const uint8_t i = &group - pwm_group_list; const uint8_t i = &group - pwm_group_list;
need_trigger |= (1U<<i); need_trigger |= (1U<<i);
} }