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AP_RPM: pre-arm displays gpio vs servo_ch conflict

This commit is contained in:
Randy Mackay 2022-04-19 11:18:44 +09:00
parent b366689282
commit a7d89829bf
1 changed files with 7 additions and 2 deletions
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9
libraries/AP_RPM/AP_RPM.cpp
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@ -246,11 +246,16 @@ bool AP_RPM::arming_checks(size_t buflen, char *buffer) const
case RPM_TYPE_PWM: case RPM_TYPE_PWM:
case RPM_TYPE_PIN: case RPM_TYPE_PIN:
if (_params[i].pin == -1) { if (_params[i].pin == -1) {
hal.util->snprintf(buffer, buflen, "RPM[%u] no pin set", i + 1); hal.util->snprintf(buffer, buflen, "RPM%u_PIN not set", unsigned(i + 1));
return false; return false;
} }
if (!hal.gpio->valid_pin(_params[i].pin)) { if (!hal.gpio->valid_pin(_params[i].pin)) {
hal.util->snprintf(buffer, buflen, "RPM[%u] pin %d invalid", unsigned(i + 1), int(_params[i].pin.get())); uint8_t servo_ch;
if (hal.gpio->pin_to_servo_channel(_params[i].pin, servo_ch)) {
hal.util->snprintf(buffer, buflen, "RPM%u_PIN=%d, set SERVO%u_FUNCTION=-1", unsigned(i + 1), int(_params[i].pin.get()), unsigned(servo_ch+1));
} else {
hal.util->snprintf(buffer, buflen, "RPM%u_PIN=%d invalid", unsigned(i + 1), int(_params[i].pin.get()));
}
return false; return false;
} }
break; break;