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AP_BLHeli: added SERVO_BLHI_AUTO option

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makes choosing motor mask much easier for multicopters
This commit is contained in:
Andrew Tridgell 2018-03-26 11:07:53 +11:00
parent fd3037bbb7
commit 9ba3992d9e
2 changed files with 20 additions and 6 deletions
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25
libraries/AP_BLHeli/AP_BLHeli.cpp
View File

@ -36,11 +36,18 @@ extern const AP_HAL::HAL& hal;
const AP_Param::GroupInfo AP_BLHeli::var_info[] = {
// @Param: MASK
// @DisplayName: Channel Bitmask
// @Description: Enable of BLHeli servo protocol support to specific channels
// @Description: Enable of BLHeli pass-thru servo protocol support to specific channels. This mask is in addition to motors enabled using SERVO_BLH_AUTO (if any)
// @Bitmask: 0:Channel1,1:Channel2,2:Channel3,3:Channel4,4:Channel5,5:Channel6,6:Channel7,7:Channel8,8:Channel9,9:Channel10,10:Channel11,11:Channel12,12:Channel13,13:Channel14,14:Channel15,15:Channel16
// @User: Standard
// @User: Advanced
AP_GROUPINFO("MASK", 1, AP_BLHeli, channel_mask, 0),
// @Param: AUTO
// @DisplayName: auto-enable for multicopter motors
// @Description: If set to 1 this auto-enables BLHeli pass-thru support for all multicopter motors
// @Values: 0:Disabled,1:Enabled
// @User: Standard
AP_GROUPINFO("AUTO", 2, AP_BLHeli, channel_auto, 0),
AP_GROUPEND
};
@ -975,7 +982,7 @@ void AP_BLHeli::update(void)
hal.rcout->serial_end();
serial_started = false;
}
if (initialised || channel_mask.get() == 0) {
if (initialised || (channel_mask.get() == 0 && channel_auto.get() == 0)) {
return;
}
initialised = true;
@ -985,14 +992,20 @@ void AP_BLHeli::update(void)
bool, uint8_t, AP_HAL::UARTDriver *))) {
debug("BLHeli installed");
}
AP_Motors *motors = AP_Motors::get_instance();
uint16_t motors_mask = 0;
if (motors) {
motors_mask = motors->get_motor_mask();
}
// for testing without vehicle code
uint16_t mask = uint16_t(channel_mask.get());
// add motors from channel mask
uint16_t mask = uint16_t(channel_mask.get()) | motors_mask;
for (uint8_t i=0; i<16 && num_motors < max_motors; i++) {
if (mask & (1U<<i)) {
motor_map[num_motors] = i;
num_motors++;
}
}
debug("ESC: mapped %u motors", num_motors);
debug("ESC: mapped %u motors with mask 0x%04x", num_motors, mask);
}

1
libraries/AP_BLHeli/AP_BLHeli.h
View File

@ -41,6 +41,7 @@ private:
// mask of channels to use for BLHeli protocol
AP_Int32 channel_mask;
AP_Int8 channel_auto;
enum mspState {
MSP_IDLE=0,