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AP_RPM: treat RPM_TYPE 1 as type 2 on non-PX4 

makes upgrades easier
This commit is contained in:
Andrew Tridgell 2018-10-17 13:12:12 +11:00
parent 925555c995
commit 9b3788c83c
1 changed files with 6 additions and 1 deletions
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7
libraries/AP_RPM/AP_RPM.cpp
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@ -105,12 +105,17 @@ void AP_RPM::init(void)
return; return;
} }
for (uint8_t i=0; i<RPM_MAX_INSTANCES; i++) { for (uint8_t i=0; i<RPM_MAX_INSTANCES; i++) {
const uint8_t type = _type[i]; uint8_t type = _type[i];
#if (CONFIG_HAL_BOARD == HAL_BOARD_PX4) || ((CONFIG_HAL_BOARD == HAL_BOARD_VRBRAIN) && (!defined(CONFIG_ARCH_BOARD_VRBRAIN_V51) && !defined(CONFIG_ARCH_BOARD_VRUBRAIN_V52))) #if (CONFIG_HAL_BOARD == HAL_BOARD_PX4) || ((CONFIG_HAL_BOARD == HAL_BOARD_VRBRAIN) && (!defined(CONFIG_ARCH_BOARD_VRBRAIN_V51) && !defined(CONFIG_ARCH_BOARD_VRUBRAIN_V52)))
if (type == RPM_TYPE_PX4_PWM) { if (type == RPM_TYPE_PX4_PWM) {
drivers[i] = new AP_RPM_PX4_PWM(*this, i, state[i]); drivers[i] = new AP_RPM_PX4_PWM(*this, i, state[i]);
} }
#else
if (type == RPM_TYPE_PX4_PWM) {
// on non-PX4 treat PX4-pin as AUXPIN option, for upgrade
type = RPM_TYPE_PIN;
}
#endif #endif
if (type == RPM_TYPE_PIN) { if (type == RPM_TYPE_PIN) {
drivers[i] = new AP_RPM_Pin(*this, i, state[i]); drivers[i] = new AP_RPM_Pin(*this, i, state[i]);