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HAL_QURT: remove ESC order mapping 

this is not consistent between ModalAI vehicles, so best done with
SERVOn_FUNCTION parameters
This commit is contained in:
Andrew Tridgell 2024-07-16 07:47:35 +10:00
parent 8260648a66
commit a7363d4c14
2 changed files with 2 additions and 6 deletions
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4
libraries/AP_HAL_QURT/RCOutput.cpp
View File

@ -117,7 +117,7 @@ void RCOutput::send_receive(void)
int16_t data[5] {};
for (uint8_t i=0; i<4; i++) {
data[esc_map[i]] = pwm_to_esc(period[i]);
data[i] = pwm_to_esc(period[i]);
}
need_write = false;
@ -140,7 +140,7 @@ void RCOutput::send_receive(void)
*/
void RCOutput::handle_esc_feedback(const struct esc_response_v2 &pkt)
{
const uint8_t idx = esc_map_rev[pkt.id_state>>4];
const uint8_t idx = pkt.id_state>>4;
if (idx >= ARRAY_SIZE(period)) {
return;
}

4
libraries/AP_HAL_QURT/RCOutput.h
View File

@ -56,10 +56,6 @@ private:
void handle_esc_feedback(const struct esc_response_v2 &pkt);
void handle_power_status(const struct esc_power_status &pkt);
// order is RL, FL, FR, RR, map to X frame
const uint8_t esc_map[4] {2, 0, 1, 3};
const uint8_t esc_map_rev[4] {1, 2, 0, 3};
int fd = -1;
uint16_t enable_mask;
static const uint8_t channel_count = 4;