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Motors: add get_motor_mask method

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This returns a bitmask of output channels that are used by the motors
library.  This allows removing the chance of a do-set-servo interfering
with a motor or control surface used to control the vehicle.
This commit is contained in:
Randy Mackay 2014-07-26 16:27:16 +09:00
parent 1ea1d9983d
commit 7749bfe82c
1 changed files with 4 additions and 0 deletions
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4
libraries/AP_Motors/AP_Motors_Class.h
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@ -130,6 +130,10 @@ public:
// Note: this must be set immediately before a step up in throttle
void slow_start(bool true_false);
// get_motor_mask - returns a bitmask of which outputs are being used for motors (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() = 0;
// structure for holding motor limit flags
struct AP_Motors_limit {
uint8_t roll_pitch : 1; // we have reached roll or pitch limit