Mirror/ardupilot
5
0
Fork 0
mirror of https://github.com/ArduPilot/ardupilot synced 2025-01-30 04:28:30 -04:00
Code Issues Packages Projects Releases Wiki Activity

AP_BLHeli: added SERVO_BLHI_AUTO option

Browse Source 
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
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

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[] = { const AP_Param::GroupInfo AP_BLHeli::var_info[] = {
// @Param: MASK // @Param: MASK
// @DisplayName: Channel Bitmask // @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 // @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), 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 AP_GROUPEND
}; };
@ -975,7 +982,7 @@ void AP_BLHeli::update(void)
hal.rcout->serial_end(); hal.rcout->serial_end();
serial_started = false; serial_started = false;
} }
if (initialised || channel_mask.get() == 0) { if (initialised || (channel_mask.get() == 0 && channel_auto.get() == 0)) {
return; return;
} }
initialised = true; initialised = true;
@ -986,13 +993,19 @@ void AP_BLHeli::update(void)
debug("BLHeli installed"); debug("BLHeli installed");
} }
// for testing without vehicle code AP_Motors *motors = AP_Motors::get_instance();
uint16_t mask = uint16_t(channel_mask.get()); uint16_t motors_mask = 0;
if (motors) {
motors_mask = motors->get_motor_mask();
}
// 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++) { for (uint8_t i=0; i<16 && num_motors < max_motors; i++) {
if (mask & (1U<<i)) { if (mask & (1U<<i)) {
motor_map[num_motors] = i; motor_map[num_motors] = i;
num_motors++; 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 // mask of channels to use for BLHeli protocol
AP_Int32 channel_mask; AP_Int32 channel_mask;
AP_Int8 channel_auto;
enum mspState { enum mspState {
MSP_IDLE=0, MSP_IDLE=0,