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AP_BLHeli: keep a record of disabled motors

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This commit is contained in:
Andy Piper 2022-04-19 18:15:20 +01:00 committed by Randy Mackay
parent 9549d2df93
commit a673a481fd
2 changed files with 6 additions and 3 deletions
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7
libraries/AP_BLHeli/AP_BLHeli.cpp
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@ -485,6 +485,7 @@ void AP_BLHeli::msp_process_command(void)
// set the output to each motor // set the output to each motor
uint8_t nmotors = msp.dataSize / 2; uint8_t nmotors = msp.dataSize / 2;
debug("MSP_SET_MOTOR %u", nmotors); debug("MSP_SET_MOTOR %u", nmotors);
motors_disabled_mask = SRV_Channels::get_disabled_channel_mask();
SRV_Channels::set_disabled_channel_mask(0xFFFF); SRV_Channels::set_disabled_channel_mask(0xFFFF);
motors_disabled = true; motors_disabled = true;
EXPECT_DELAY_MS(1000); EXPECT_DELAY_MS(1000);
@ -946,7 +947,7 @@ void AP_BLHeli::blheli_process_command(void)
serial_start_ms = 0; serial_start_ms = 0;
if (motors_disabled) { if (motors_disabled) {
motors_disabled = false; motors_disabled = false;
SRV_Channels::set_disabled_channel_mask(0); SRV_Channels::set_disabled_channel_mask(motors_disabled_mask);
} }
if (uart_locked) { if (uart_locked) {
debug("Unlocked UART"); debug("Unlocked UART");
@ -1244,7 +1245,7 @@ void AP_BLHeli::run_connection_test(uint8_t chan)
} }
} }
hal.rcout->serial_end(); hal.rcout->serial_end();
SRV_Channels::set_disabled_channel_mask(0); SRV_Channels::set_disabled_channel_mask(motors_disabled_mask);
motors_disabled = false; motors_disabled = false;
serial_start_ms = 0; serial_start_ms = 0;
blheli.chan = saved_chan; blheli.chan = saved_chan;
@ -1277,7 +1278,7 @@ void AP_BLHeli::update(void)
} }
if (motors_disabled) { if (motors_disabled) {
motors_disabled = false; motors_disabled = false;
SRV_Channels::set_disabled_channel_mask(0); SRV_Channels::set_disabled_channel_mask(motors_disabled_mask);
} }
if (uart != nullptr) { if (uart != nullptr) {
debug("Unlocked UART"); debug("Unlocked UART");

2
libraries/AP_BLHeli/AP_BLHeli.h
View File

@ -231,6 +231,8 @@ private:
// have we disabled motor outputs? // have we disabled motor outputs?
bool motors_disabled; bool motors_disabled;
// mask of channels that should normally be disabled
uint16_t motors_disabled_mask;
// have we locked the UART? // have we locked the UART?
bool uart_locked; bool uart_locked;