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SRV_Channel: allow for AP_Periph ESC telemetry

This commit is contained in:
Andrew Tridgell 2021-12-07 19:10:20 +11:00 committed by Tom Pittenger
parent 91424c1f03
commit 9359f39e30
1 changed files with 5 additions and 2 deletions
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7
libraries/SRV_Channel/SRV_Channels.cpp
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@ -261,10 +261,10 @@ SRV_Channels::SRV_Channels(void)
volz_ptr = &volz;
sbus_ptr = &sbus;
robotis_ptr = &robotis;
#endif // HAL_BUILD_AP_PERIPH
#if HAL_SUPPORT_RCOUT_SERIAL
blheli_ptr = &blheli;
#endif
#endif // HAL_BUILD_AP_PERIPH
}
// SRV_Channels initialization
@ -274,7 +274,9 @@ void SRV_Channels::init(void)
#if HAL_SUPPORT_RCOUT_SERIAL
blheli_ptr->init();
#endif
#ifndef HAL_BUILD_AP_PERIPH
hal.rcout->set_dshot_rate(_singleton->dshot_rate, AP::scheduler().get_loop_rate_hz());
#endif
}
/*
@ -378,11 +380,12 @@ void SRV_Channels::push()
// give robotis library a chance to update
robotis_ptr->update();
#endif // HAL_BUILD_AP_PERIPH
#if HAL_SUPPORT_RCOUT_SERIAL
// give blheli telemetry a chance to update
blheli_ptr->update_telemetry();
#endif
#endif // HAL_BUILD_AP_PERIPH
#if AP_FETTEC_ONEWIRE_ENABLED
fetteconwire_ptr->update();