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AP_Motors: move to a uint32_t motor mask

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This commit is contained in:
Peter Barker 2025-01-18 09:30:16 +11:00 committed by Peter Barker
parent 9405cf9c4e
commit 98e4037868
4 changed files with 5 additions and 5 deletions
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2
libraries/AP_Motors/AP_MotorsMulticopter.cpp
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@ -740,7 +740,7 @@ void AP_MotorsMulticopter::set_throttle_passthrough_for_esc_calibration(float th
// output a thrust to all motors that match a given motor mask. This
// is used to control tiltrotor motors in forward flight. Thrust is in
// the range 0 to 1
void AP_MotorsMulticopter::output_motor_mask(float thrust, uint16_t mask, float rudder_dt)
void AP_MotorsMulticopter::output_motor_mask(float thrust, uint32_t mask, float rudder_dt)
{
const int16_t pwm_min = get_pwm_output_min();
const int16_t pwm_range = get_pwm_output_max() - pwm_min;

4
libraries/AP_Motors/AP_MotorsMulticopter.h
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@ -60,7 +60,7 @@ public:
// output a thrust to all motors that match a given motor
// mask. This is used to control tiltrotor motors in forward
// flight. Thrust is in the range 0 to 1
virtual void output_motor_mask(float thrust, uint16_t mask, float rudder_dt);
virtual void output_motor_mask(float thrust, uint32_t mask, float rudder_dt);
// get_motor_mask - returns a bitmask of which outputs are being used for motors (1 means being used)
// this can be used to ensure other pwm outputs (i.e. for servos) do not conflict
@ -204,5 +204,5 @@ protected:
}
// mask of overridden motors (used by quadplane tiltrotors)
uint16_t _motor_mask_override;
uint32_t _motor_mask_override;
};

2
libraries/AP_Motors/AP_MotorsTri.cpp
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@ -351,7 +351,7 @@ void AP_MotorsTri::thrust_compensation(void)
/*
override tricopter tail servo output in output_motor_mask
*/
void AP_MotorsTri::output_motor_mask(float thrust, uint16_t mask, float rudder_dt)
void AP_MotorsTri::output_motor_mask(float thrust, uint32_t mask, float rudder_dt)
{
// normal multicopter output
AP_MotorsMulticopter::output_motor_mask(thrust, mask, rudder_dt);

2
libraries/AP_Motors/AP_MotorsTri.h
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@ -42,7 +42,7 @@ public:
// mask. This is used to control tiltrotor motors in forward
// flight. Thrust is in the range 0 to 1
// rudder_dt applys diffential thrust for yaw in the range 0 to 1
void output_motor_mask(float thrust, uint16_t mask, float rudder_dt) override;
void output_motor_mask(float thrust, uint32_t mask, float rudder_dt) override;
// return the roll factor of any motor, this is used for tilt rotors and tail sitters
// using copter motors for forward flight