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AP_Motors: rc_write handles motors 9 to 12

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This commit is contained in:
Randy Mackay 2017-05-18 23:16:23 +09:00
parent 544d6aa8a0
commit d00725b2ed
1 changed files with 7 additions and 3 deletions
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10
libraries/AP_Motors/AP_Motors_Class.cpp
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@ -198,10 +198,14 @@ void AP_Motors::add_motor_num(int8_t motor_num)
// ensure valid motor number is provided // ensure valid motor number is provided
if( motor_num >= 0 && motor_num < AP_MOTORS_MAX_NUM_MOTORS ) { if( motor_num >= 0 && motor_num < AP_MOTORS_MAX_NUM_MOTORS ) {
uint8_t chan; uint8_t chan;
SRV_Channel::Aux_servo_function_t function = (SRV_Channel::Aux_servo_function_t)(SRV_Channel::k_motor1+motor_num); SRV_Channel::Aux_servo_function_t function;
if (motor_num < 8) {
function = (SRV_Channel::Aux_servo_function_t)(SRV_Channel::k_motor1+motor_num);
} else {
function = (SRV_Channel::Aux_servo_function_t)(SRV_Channel::k_motor9+(motor_num-8));
}
SRV_Channels::set_aux_channel_default(function, motor_num); SRV_Channels::set_aux_channel_default(function, motor_num);
if (SRV_Channels::find_channel((SRV_Channel::Aux_servo_function_t)(SRV_Channel::k_motor1+motor_num), if (SRV_Channels::find_channel(function, chan) && chan != motor_num) {
chan) && chan != motor_num) {
_motor_map[motor_num] = chan; _motor_map[motor_num] = chan;
_motor_map_mask |= 1U<<motor_num; _motor_map_mask |= 1U<<motor_num;
} }