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AP_BLHeli: make AP_Motors::PWMType enum class 

Co-authored-by: muramura <ma2maru@gmail.com>
This commit is contained in:
Peter Barker 2024-07-26 11:06:14 +10:00 committed by Peter Barker
parent 7537acd3bc
commit a211b66472
1 changed files with 5 additions and 1 deletions
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6
libraries/AP_BLHeli/AP_BLHeli.cpp
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@ -400,13 +400,17 @@ void AP_BLHeli::msp_process_command(void)
msp_send_reply(msp.cmdMSP, (const uint8_t *)UDID_START, 12);
break;
// a literal "4" is used for the PWMType here to allow Rover
// to use the same number for the same protocol. At time of
// writing the AP_MotorsUGV::PWMType has not been unified with
// AP_Motors::PWMType.
case MSP_ADVANCED_CONFIG: {
debug("MSP_ADVANCED_CONFIG");
uint8_t buf[10];
buf[0] = 1; // gyro sync denom
buf[1] = 4; // pid process denom
buf[2] = 0; // use unsynced pwm
buf[3] = (uint8_t)PWM_TYPE_DSHOT150; // motor PWM protocol
buf[3] = 4; // (uint8_t)AP_Motors::PWMType::DSHOT150;
putU16(&buf[4], 480); // motor PWM Rate
putU16(&buf[6], 450); // idle offset value
buf[8] = 0; // use 32kHz