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AP_BLHeli: allow build as part of AP_Periph

This commit is contained in:
Andrew Tridgell 2021-12-07 13:46:12 +11:00 committed by Tom Pittenger
parent 522b12135f
commit 778de59fff
1 changed files with 6 additions and 4 deletions
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10
libraries/AP_BLHeli/AP_BLHeli.cpp
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@ -41,7 +41,7 @@
extern const AP_HAL::HAL& hal;
#define debug(fmt, args ...) do { if (debug_level) { gcs().send_text(MAV_SEVERITY_INFO, "ESC: " fmt, ## args); } } while (0)
#define debug(fmt, args ...) do { if (debug_level) { GCS_SEND_TEXT(MAV_SEVERITY_INFO, "ESC: " fmt, ## args); } } while (0)
// key for locking UART for exclusive use. This prevents any other writes from corrupting
// the MSP protocol on hal.console
@ -1193,11 +1193,11 @@ void AP_BLHeli::run_connection_test(uint8_t chan)
debug_uart = hal.console;
uint8_t saved_chan = blheli.chan;
if (chan >= num_motors) {
gcs().send_text(MAV_SEVERITY_INFO, "ESC: bad channel %u", chan);
GCS_SEND_TEXT(MAV_SEVERITY_INFO, "ESC: bad channel %u", chan);
return;
}
blheli.chan = chan;
gcs().send_text(MAV_SEVERITY_INFO, "ESC: Running test on channel %u", blheli.chan);
GCS_SEND_TEXT(MAV_SEVERITY_INFO, "ESC: Running test on channel %u", blheli.chan);
bool passed = false;
for (uint8_t tries=0; tries<5; tries++) {
EXPECT_DELAY_MS(3000);
@ -1229,7 +1229,7 @@ void AP_BLHeli::run_connection_test(uint8_t chan)
motors_disabled = false;
serial_start_ms = 0;
blheli.chan = saved_chan;
gcs().send_text(MAV_SEVERITY_INFO, "ESC: Test %s", passed?"PASSED":"FAILED");
GCS_SEND_TEXT(MAV_SEVERITY_INFO, "ESC: Test %s", passed?"PASSED":"FAILED");
debug_uart = nullptr;
}
@ -1288,6 +1288,7 @@ void AP_BLHeli::init(void)
run_test.set_and_notify(0);
#if HAL_GCS_ENABLED
// only install pass-thru protocol handler if either auto or the motor mask are set
if (channel_mask.get() != 0 || channel_auto.get() != 0) {
if (last_control_port > 0 && last_control_port != control_port) {
@ -1301,6 +1302,7 @@ void AP_BLHeli::init(void)
last_control_port = control_port;
}
}
#endif // HAL_GCS_ENABLED
#if HAL_WITH_IO_MCU
if (AP_BoardConfig::io_enabled()) {