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SRV_Channel: add SERVO_DSHOT_RATE and propagate to rcout

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This commit is contained in:
Andy Piper 2021-03-02 22:18:47 +00:00 committed by Andrew Tridgell
parent 9ac8e2b705
commit 9a870e4d75
2 changed files with 18 additions and 0 deletions
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4
libraries/SRV_Channel/SRV_Channel.h
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@ -516,6 +516,9 @@ public:
static void zero_rc_outputs();
// initialize before any call to push
static void init();
private:
static bool disabled_passthrough;
@ -573,6 +576,7 @@ private:
AP_Int8 auto_trim;
AP_Int16 default_rate;
AP_Int8 dshot_rate;
// return true if passthrough is disabled
static bool passthrough_disabled(void) {

14
libraries/SRV_Channel/SRV_Channels.cpp
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@ -195,6 +195,13 @@ const AP_Param::GroupInfo SRV_Channels::var_info[] = {
AP_SUBGROUPINFO(robotis, "_ROB_", 22, SRV_Channels, AP_RobotisServo),
#endif // HAL_BUILD_AP_PERIPH
// @Param: _DSHOT_RATE
// @DisplayName: Servo DShot output rate
// @Description: This sets the DShot output rate for all outputs as a multiple of the loop rate. 0 sets the output rate to be fixed at 1Khz for low loop rates. This value should never be set below 500Hz.
// @Values: 0:1Khz,1:loop-rate,2:double loop-rate,3:triple loop-rate,4:quadruple loop rate
// @User: Advanced
AP_GROUPINFO("_DSHOT_RATE", 23, SRV_Channels, dshot_rate, 0),
AP_GROUPEND
};
@ -222,6 +229,13 @@ SRV_Channels::SRV_Channels(void)
blheli_ptr = &blheli;
#endif
#endif // HAL_BUILD_AP_PERIPH
}
// SRV_Channels initialization
void SRV_Channels::init(void)
{
hal.rcout->set_dshot_rate(_singleton->dshot_rate, AP::scheduler().get_loop_rate_hz());
}
/*