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AP_Notify: fixed RGB led output to use SRV_Channels

This commit is contained in:
Andrew Tridgell 2017-04-17 16:53:21 +10:00
parent ce87bb7e39
commit 6a1c58b5a5
1 changed files with 4 additions and 3 deletions
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7
libraries/AP_Notify/RCOutputRGBLed.cpp
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@ -18,6 +18,7 @@
#include "RCOutputRGBLed.h"
#include <AP_Math/AP_Math.h>
#include <SRV_Channel/SRV_Channel.h>
static const AP_HAL::HAL& hal = AP_HAL::get_HAL();
@ -76,13 +77,13 @@ bool RCOutputRGBLed::hw_set_rgb(uint8_t red, uint8_t green, uint8_t blue)
hal.rcout->cork();
uint16_t usec_duty = usec_period * red / _led_bright;
hal.rcout->write(_red_channel, usec_duty);
SRV_Channels::set_output_pwm_chan(_red_channel, usec_duty);
usec_duty = usec_period * green / _led_bright;
hal.rcout->write(_green_channel, usec_duty);
SRV_Channels::set_output_pwm_chan(_green_channel, usec_duty);
usec_duty = usec_period * blue / _led_bright;
hal.rcout->write(_blue_channel, usec_duty);
SRV_Channels::set_output_pwm_chan(_blue_channel, usec_duty);
return true;
}