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AP_BLHeli: fixed build for rover

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only plane and copter have AP_Motors for motors mask
This commit is contained in:
Andrew Tridgell 2018-03-31 20:50:22 +11:00
parent 9a29c6d3b5
commit b0442d1c5c
1 changed files with 10 additions and 3 deletions
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13
libraries/AP_BLHeli/AP_BLHeli.cpp
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@ -41,12 +41,14 @@ const AP_Param::GroupInfo AP_BLHeli::var_info[] = {
// @User: Advanced
AP_GROUPINFO("MASK", 1, AP_BLHeli, channel_mask, 0),
#if APM_BUILD_TYPE(APM_BUILD_ArduCopter) || APM_BUILD_TYPE(APM_BUILD_ArduPlane)
// @Param: AUTO
// @DisplayName: auto-enable for multicopter motors
// @Description: If set to 1 this auto-enables BLHeli pass-thru support for all multicopter motors
// @Values: 0:Disabled,1:Enabled
// @User: Standard
AP_GROUPINFO("AUTO", 2, AP_BLHeli, channel_auto, 0),
#endif
AP_GROUPEND
};
@ -993,14 +995,19 @@ void AP_BLHeli::update(void)
debug("BLHeli installed");
}
uint16_t mask = uint16_t(channel_mask.get());
#if APM_BUILD_TYPE(APM_BUILD_ArduCopter) || APM_BUILD_TYPE(APM_BUILD_ArduPlane)
/*
plane and copter can use AP_Motors to get an automatic mask
*/
AP_Motors *motors = AP_Motors::get_instance();
uint16_t motors_mask = 0;
if (motors) {
motors_mask = motors->get_motor_mask();
mask |= motors->get_motor_mask();
}
#endif
// add motors from channel mask
uint16_t mask = uint16_t(channel_mask.get()) | motors_mask;
for (uint8_t i=0; i<16 && num_motors < max_motors; i++) {
if (mask & (1U<<i)) {
motor_map[num_motors] = i;