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AP_BLHeli: allow connection with reversable ESCs

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Peter Hall 2019-12-15 15:59:56 +00:00 committed by Andrew Tridgell
parent 5e13fc1e0f
commit 956c3f29a3
1 changed files with 2 additions and 1 deletions
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3
libraries/AP_BLHeli/AP_BLHeli.cpp
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@ -360,7 +360,7 @@ void AP_BLHeli::msp_process_command(void)
case MSP_FEATURE_CONFIG: {
debug("MSP_FEATURE_CONFIG");
uint8_t buf[4];
putU32(buf, 0); // from MSPFeatures enum
putU32(buf, (channel_reversible_mask.get() != 0) ? FEATURE_3D : 0); // from MSPFeatures enum
msp_send_reply(msp.cmdMSP, buf, sizeof(buf));
break;
}
@ -409,6 +409,7 @@ void AP_BLHeli::msp_process_command(void)
for (uint8_t i = 0; i < num_motors; i++) {
uint16_t v = hal.rcout->read(motor_map[i]);
putU16(&buf[2*i], v);
debug("MOTOR %u val: %u",i,v);
}
msp_send_reply(msp.cmdMSP, buf, sizeof(buf));
break;