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AP_HAL_ChibiOS: add support for disabled mask on iomcu

This commit is contained in:
Andy Piper 2024-08-30 15:06:06 +01:00 committed by Andrew Tridgell
parent e5d26a579d
commit 7fc61090f2
1 changed files with 7 additions and 2 deletions
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9
libraries/AP_HAL_ChibiOS/RCOutput.cpp
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@ -650,6 +650,11 @@ uint32_t RCOutput::get_disabled_channels(uint32_t digital_mask)
} }
disabled_chan_mask <<= chan_offset; disabled_chan_mask <<= chan_offset;
#if HAL_WITH_IO_MCU
if (iomcu_dshot) {
disabled_chan_mask |= iomcu.get_disabled_channels(digital_mask);
}
#endif
return disabled_chan_mask; return disabled_chan_mask;
} }
@ -1463,9 +1468,9 @@ void RCOutput::dshot_send_groups(rcout_timer_t cycle_start_us, rcout_timer_t tim
} }
for (auto &group : pwm_group_list) { for (auto &group : pwm_group_list) {
bool pulse_sent; bool pulse_sent = false;
// send a dshot command // send a dshot command
if (is_dshot_protocol(group.current_mode) if (group.can_send_dshot_pulse()
&& dshot_command_is_active(group)) { && dshot_command_is_active(group)) {
command_sent = dshot_send_command(group, _dshot_current_command.command, _dshot_current_command.chan); command_sent = dshot_send_command(group, _dshot_current_command.command, _dshot_current_command.chan);
pulse_sent = true; pulse_sent = true;