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AP_BLHeli: use get_esc_scaling() for motor range

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this fixes an issue with blhelisuite init when min is not 1000
This commit is contained in:
Andrew Tridgell 2018-04-02 17:48:04 +10:00
parent 503bd9ce65
commit 61d513e91b
1 changed files with 8 additions and 5 deletions
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13
libraries/AP_BLHeli/AP_BLHeli.cpp
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@ -335,7 +335,7 @@ void AP_BLHeli::msp_process_command(void)
case MSP_STATUS: {
debug("MSP_STATUS");
uint8_t buf[21];
putU16(&buf[0], 2500); // loop time usec
putU16(&buf[0], 1000); // loop time usec
putU16(&buf[2], 0); // i2c error count
putU16(&buf[4], 0x27); // available sensors
putU32(&buf[6], 0); // flight modes
@ -361,10 +361,13 @@ void AP_BLHeli::msp_process_command(void)
case MSP_MOTOR_CONFIG: {
debug("MSP_MOTOR_CONFIG");
uint16_t min_pwm = 1000;
uint16_t max_pwm = 2000;
hal.rcout->get_esc_scaling(min_pwm, max_pwm);
uint8_t buf[6];
putU16(&buf[0], 1070); // min throttle
putU16(&buf[2], 2000); // max throttle
putU16(&buf[4], 1000); // min command
putU16(&buf[0], min_pwm+30); // min throttle
putU16(&buf[2], max_pwm); // max throttle
putU16(&buf[4], min_pwm); // min command
msp_send_reply(msp.cmdMSP, buf, sizeof(buf));
break;
}
@ -1130,7 +1133,7 @@ void AP_BLHeli::update(void)
}
uint16_t mask = uint16_t(channel_mask.get());
#if APM_BUILD_TYPE(APM_BUILD_ArduCopter) || APM_BUILD_TYPE(APM_BUILD_ArduPlane)
/*
plane and copter can use AP_Motors to get an automatic mask