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APM_RC_APM1.cpp: Bugfix on mapping of SetFastOutputChannels to ICR reg 

* Previously had the ICR register for ch1/2/9 (on timer5) swapped with
  ch3/4/10 (on timer1).
* This bug probably didn't make a difference in operation since
  SetFastOutputChannels is typically only used for copters, where at
  least CH1,2,3,4 would be set to fast all at once.
This commit is contained in:
Pat Hickey 2012-08-28 17:12:41 -07:00
parent fd4bc69d77
commit 7b3009a238
1 changed files with 2 additions and 2 deletions
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4
libraries/APM_RC/APM_RC_APM1.cpp
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@ -271,11 +271,11 @@ void APM_RC_APM1::SetFastOutputChannels(uint32_t chmask, uint16_t speed_hz)
uint16_t icr = _map_speed(speed_hz); uint16_t icr = _map_speed(speed_hz);
if ((chmask & ( _BV(CH_1) | _BV(CH_2) | _BV(CH_9))) != 0) { if ((chmask & ( _BV(CH_1) | _BV(CH_2) | _BV(CH_9))) != 0) {
ICR1 = icr; ICR5 = icr;
} }
if ((chmask & ( _BV(CH_3) | _BV(CH_4) | _BV(CH_10))) != 0) { if ((chmask & ( _BV(CH_3) | _BV(CH_4) | _BV(CH_10))) != 0) {
ICR5 = icr; ICR1 = icr;
} }
#if 0 #if 0