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AP_BLHeli: allow bdshot iomcu on non-bdshot fmu

This commit is contained in:
Andy Piper 2023-11-16 17:44:41 +00:00 committed by Andrew Tridgell
parent a8772ef5a2
commit 6dec0c2da5
1 changed files with 3 additions and 1 deletions
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4
libraries/AP_BLHeli/AP_BLHeli.cpp
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@ -134,7 +134,7 @@ const AP_Param::GroupInfo AP_BLHeli::var_info[] = {
// @RebootRequired: True
AP_GROUPINFO("3DMASK", 10, AP_BLHeli, channel_reversible_mask, 0),
#ifdef HAL_WITH_BIDIR_DSHOT
#if defined(HAL_WITH_BIDIR_DSHOT) || HAL_WITH_IO_MCU_BIDIR_DSHOT
// @Param: BDMASK
// @DisplayName: BLHeli bitmask of bi-directional dshot channels
// @Description: Mask of channels which support bi-directional dshot. This is used for ESCs which have firmware that supports bi-directional dshot allowing fast rpm telemetry values to be returned for the harmonic notch.
@ -1409,6 +1409,8 @@ void AP_BLHeli::init(uint32_t mask, AP_HAL::RCOutput::output_mode otype)
#ifdef HAL_WITH_BIDIR_DSHOT
// possibly enable bi-directional dshot
hal.rcout->set_motor_poles(motor_poles);
#endif
#if defined(HAL_WITH_BIDIR_DSHOT) || HAL_WITH_IO_MCU_BIDIR_DSHOT
hal.rcout->set_bidir_dshot_mask(uint32_t(channel_bidir_dshot_mask.get()) & digital_mask);
#endif
// add motors from channel mask