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AP_BLHeli: fixed use of SERVO_BLH_AUTO

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This commit is contained in:
Andrew Tridgell 2018-04-02 16:16:37 +10:00
parent 5bfc97f9c0
commit 6f704b3818
1 changed files with 6 additions and 4 deletions
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10
libraries/AP_BLHeli/AP_BLHeli.cpp
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@ -409,7 +409,7 @@ void AP_BLHeli::msp_process_command(void)
msp.escMode = (enum escProtocol)msp.buf[0];
msp.portIndex = msp.buf[1];
}
debug("escMode=%u portIndex=%u", msp.escMode, msp.portIndex);
debug("escMode=%u portIndex=%u num_motors=%u", msp.escMode, msp.portIndex, num_motors);
uint8_t n = num_motors;
switch (msp.escMode) {
case PROTOCOL_4WAY:
@ -1128,9 +1128,11 @@ void AP_BLHeli::update(void)
/*
plane and copter can use AP_Motors to get an automatic mask
*/
AP_Motors *motors = AP_Motors::get_instance();
if (motors) {
mask |= motors->get_motor_mask();
if (channel_auto.get() == 1) {
AP_Motors *motors = AP_Motors::get_instance();
if (motors) {
mask |= motors->get_motor_mask();
}
}
#endif