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TradHeli: implement get_motor_mask

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This commit is contained in:
Randy Mackay 2014-07-26 16:29:12 +09:00
parent 6d99524e56
commit 72c3e9cc72
2 changed files with 13 additions and 1 deletions
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10
libraries/AP_Motors/AP_MotorsHeli.cpp
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@ -363,6 +363,14 @@ void AP_MotorsHeli::recalc_scalers()
_rsc_runup_increment = 1000.0f / (_rsc_runup_time * 100.0f);
}
// get_motor_mask - returns a bitmask of which outputs are being used for motors or servos (1 means being used)
// this can be used to ensure other pwm outputs (i.e. for servos) do not conflict
uint16_t AP_MotorsHeli::get_motor_mask()
{
// heli uses channels 1,2,3,4,7 and 8
return (1U << 0 | 1U << 1 | 1U << 2 | 1U << 3 | 1U << AP_MOTORS_HELI_AUX | 1U << AP_MOTORS_HELI_RSC);
}
//
// protected methods
//
@ -797,4 +805,4 @@ void AP_MotorsHeli::set_delta_phase_angle(int16_t angle)
angle = constrain_int16(angle, -90, 90);
_delta_phase_angle = angle;
calculate_roll_pitch_collective_factors();
}
}

4
libraries/AP_Motors/AP_MotorsHeli.h
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@ -199,6 +199,10 @@ public:
// recalculation of collective factors
void set_delta_phase_angle(int16_t angle);
// get_motor_mask - returns a bitmask of which outputs are being used for motors or servos (1 means being used)
// this can be used to ensure other pwm outputs (i.e. for servos) do not conflict
virtual uint16_t get_motor_mask();
protected:
// output - sends commands to the motors