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AP_BLHeli: removed special handling of oneshot125

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This commit is contained in:
Andrew Tridgell 2018-04-03 18:14:03 +10:00
parent 3cd4f2a002
commit 84d76cf915
1 changed files with 2 additions and 8 deletions
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10
libraries/AP_BLHeli/AP_BLHeli.cpp
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@ -382,12 +382,6 @@ void AP_BLHeli::msp_process_command(void)
hal.rcout->get_esc_scaling(min_pwm, max_pwm);
for (uint8_t i = 0; i < num_motors; i++) {
uint16_t v = hal.rcout->read(motor_map[i]);
if (v < min_pwm && v > 120 && v < 260) {
// assume this is oneshot125. We really should have
// that as a AP_HAL::RCOutput mode, but for now we
// need to cope with it this way
v /= 8;
}
putU16(&buf[2*i], v);
}
msp_send_reply(msp.cmdMSP, buf, sizeof(buf));
@ -614,7 +608,7 @@ bool AP_BLHeli::BL_ReadA(uint8_t cmd, uint8_t *buf, uint16_t n)
*/
bool AP_BLHeli::BL_ConnectEx(void)
{
debug("BL_ConnectEx start");
debug("BL_ConnectEx %u/%u at %u", blheli.chan, num_motors, motor_map[blheli.chan]);
setDisconnected();
const uint8_t BootInit[] = {0,0,0,0,0,0,0,0,0,0,0,0,0x0D,'B','L','H','e','l','i',0xF4,0x7D};
if (!BL_SendBuf(BootInit, 21)) {
@ -1163,7 +1157,7 @@ void AP_BLHeli::update(void)
num_motors++;
}
}
debug("ESC: mapped %u motors with mask 0x%04x", num_motors, mask);
debug("ESC: %u motors mask=0x%04x", num_motors, mask);
if (telem_rate > 0) {
AP_SerialManager *serial_manager = AP_SerialManager::get_instance();