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AP_BLHeli: add auto support to rover

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This commit is contained in:
Andy Piper 2021-05-29 12:52:08 +01:00 committed by Randy Mackay
parent 30f7284fe1
commit 9eea3f1030
1 changed files with 12 additions and 3 deletions
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15
libraries/AP_BLHeli/AP_BLHeli.cpp
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@ -26,7 +26,12 @@
#ifdef HAVE_AP_BLHELI_SUPPORT #ifdef HAVE_AP_BLHELI_SUPPORT
#include <AP_Math/crc.h> #include <AP_Math/crc.h>
#include <AP_Vehicle/AP_Vehicle.h>
#if APM_BUILD_TYPE(APM_BUILD_Rover)
#include <AP_Motors/AP_MotorsUGV.h>
#else
#include <AP_Motors/AP_Motors_Class.h> #include <AP_Motors/AP_Motors_Class.h>
#endif
#include <GCS_MAVLink/GCS_MAVLink.h> #include <GCS_MAVLink/GCS_MAVLink.h>
#include <GCS_MAVLink/GCS.h> #include <GCS_MAVLink/GCS.h>
#include <AP_SerialManager/AP_SerialManager.h> #include <AP_SerialManager/AP_SerialManager.h>
@ -53,7 +58,7 @@ const AP_Param::GroupInfo AP_BLHeli::var_info[] = {
// @User: Advanced // @User: Advanced
AP_GROUPINFO("MASK", 1, AP_BLHeli, channel_mask, 0), AP_GROUPINFO("MASK", 1, AP_BLHeli, channel_mask, 0),
#if APM_BUILD_TYPE(APM_BUILD_ArduCopter) || APM_BUILD_TYPE(APM_BUILD_ArduPlane) #if APM_BUILD_TYPE(APM_BUILD_ArduCopter) || APM_BUILD_TYPE(APM_BUILD_ArduPlane) || APM_BUILD_TYPE(APM_BUILD_Rover)
// @Param: AUTO // @Param: AUTO
// @DisplayName: BLHeli auto-enable for multicopter motors // @DisplayName: BLHeli auto-enable for multicopter motors
// @Description: If set to 1 this auto-enables BLHeli pass-thru support for all multicopter motors // @Description: If set to 1 this auto-enables BLHeli pass-thru support for all multicopter motors
@ -1355,12 +1360,16 @@ void AP_BLHeli::init(void)
digital_mask = mask; digital_mask = mask;
} }
#if APM_BUILD_TYPE(APM_BUILD_ArduCopter) || APM_BUILD_TYPE(APM_BUILD_ArduPlane) #if APM_BUILD_TYPE(APM_BUILD_ArduCopter) || APM_BUILD_TYPE(APM_BUILD_ArduPlane) || APM_BUILD_TYPE(APM_BUILD_Rover)
/* /*
plane and copter can use AP_Motors to get an automatic mask plane and copter can use AP_Motors to get an automatic mask
*/ */
if (channel_auto.get() == 1) { if (channel_auto.get() == 1) {
AP_Motors *motors = AP_Motors::get_singleton(); #if APM_BUILD_TYPE(APM_BUILD_Rover)
AP_MotorsUGV *motors = AP::motors_ugv();
#else
AP_Motors *motors = AP::motors();
#endif
if (motors) { if (motors) {
uint16_t motormask = motors->get_motor_mask(); uint16_t motormask = motors->get_motor_mask();
// set the rest of the digital channels // set the rest of the digital channels