mirror of https://github.com/ArduPilot/ardupilot
AP_HAL_ChibiOS: add support for disabled mask on iomcu
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@ -650,6 +650,11 @@ uint32_t RCOutput::get_disabled_channels(uint32_t digital_mask)
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}
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disabled_chan_mask <<= chan_offset;
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#if HAL_WITH_IO_MCU
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if (iomcu_dshot) {
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disabled_chan_mask |= iomcu.get_disabled_channels(digital_mask);
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}
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#endif
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return disabled_chan_mask;
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}
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@ -1463,9 +1468,9 @@ void RCOutput::dshot_send_groups(rcout_timer_t cycle_start_us, rcout_timer_t tim
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}
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for (auto &group : pwm_group_list) {
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bool pulse_sent;
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bool pulse_sent = false;
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// send a dshot command
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if (is_dshot_protocol(group.current_mode)
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if (group.can_send_dshot_pulse()
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&& dshot_command_is_active(group)) {
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command_sent = dshot_send_command(group, _dshot_current_command.command, _dshot_current_command.chan);
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pulse_sent = true;
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