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Plane: fixed motor channel handling

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This commit is contained in:
Andrew Tridgell 2017-10-23 14:16:14 +11:00
parent 381e2fd69a
commit 92ee05b925
1 changed files with 2 additions and 2 deletions
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4
ArduPlane/quadplane.cpp
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@ -446,7 +446,7 @@ QuadPlane::QuadPlane(AP_AHRS_NavEKF &_ahrs) :
void QuadPlane::setup_default_channels(uint8_t num_motors) void QuadPlane::setup_default_channels(uint8_t num_motors)
{ {
for (uint8_t i=0; i<num_motors; i++) { for (uint8_t i=0; i<num_motors; i++) {
SRV_Channels::set_aux_channel_default((SRV_Channel::Aux_servo_function_t)(SRV_Channel::k_motor1+i), CH_5+i); SRV_Channels::set_aux_channel_default(SRV_Channels::get_motor_function(i), CH_5+i);
} }
} }
@ -595,7 +595,7 @@ bool QuadPlane::setup(void)
// setup the trim of any motors used by AP_Motors so px4io // setup the trim of any motors used by AP_Motors so px4io
// failsafe will disable motors // failsafe will disable motors
for (uint8_t i=0; i<8; i++) { for (uint8_t i=0; i<8; i++) {
SRV_Channel::Aux_servo_function_t func = (SRV_Channel::Aux_servo_function_t)(SRV_Channel::k_motor1+i); SRV_Channel::Aux_servo_function_t func = SRV_Channels::get_motor_function(i);
SRV_Channels::set_failsafe_pwm(func, thr_min_pwm); SRV_Channels::set_failsafe_pwm(func, thr_min_pwm);
} }