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SRV_Channel: check for rcout serial for blheli support

This commit is contained in:
Andrew Tridgell 2018-04-02 11:16:44 +10:00
parent fde092a246
commit d54d3351de
3 changed files with 18 additions and 1 deletions
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2
libraries/SRV_Channel/SRV_Channel.h
View File

@ -449,9 +449,11 @@ private:
AP_SBusOut sbus;
static AP_SBusOut *sbus_ptr;
#if HAL_SUPPORT_RCOUT_SERIAL
// support for BLHeli protocol
AP_BLHeli blheli;
static AP_BLHeli *blheli_ptr;
#endif
static uint16_t disabled_mask;
SRV_Channel obj_channels[NUM_SERVO_CHANNELS];

4
libraries/SRV_Channel/SRV_Channel_aux.cpp
View File

@ -166,8 +166,10 @@ void SRV_Channels::enable_aux_servos()
hal.rcout->enable_ch(channels[i].ch_num);
}
}
#if HAL_SUPPORT_RCOUT_SERIAL
blheli_ptr->update();
#endif
}
/// enable output channels using a channel mask

13
libraries/SRV_Channel/SRV_Channels.cpp
View File

@ -28,7 +28,11 @@ SRV_Channel *SRV_Channels::channels;
SRV_Channels *SRV_Channels::instance;
AP_Volz_Protocol *SRV_Channels::volz_ptr;
AP_SBusOut *SRV_Channels::sbus_ptr;
#if HAL_SUPPORT_RCOUT_SERIAL
AP_BLHeli *SRV_Channels::blheli_ptr;
#endif
uint16_t SRV_Channels::disabled_mask;
bool SRV_Channels::disabled_passthrough;
@ -124,9 +128,11 @@ const AP_Param::GroupInfo SRV_Channels::var_info[] = {
// @Path: ../AP_SBusOut/AP_SBusOut.cpp
AP_SUBGROUPINFO(sbus, "_SBUS_", 20, SRV_Channels, AP_SBusOut),
#if HAL_SUPPORT_RCOUT_SERIAL
// @Group: _BLH_
// @Path: ../AP_BLHeli/AP_BLHeli.cpp
AP_SUBGROUPINFO(blheli, "_BLH_", 21, SRV_Channels, AP_BLHeli),
#endif
AP_GROUPEND
};
@ -149,7 +155,9 @@ SRV_Channels::SRV_Channels(void)
volz_ptr = &volz;
sbus_ptr = &sbus;
#if HAL_SUPPORT_RCOUT_SERIAL
blheli_ptr = &blheli;
#endif
}
/*
@ -217,4 +225,9 @@ void SRV_Channels::push()
// give sbus library a chance to update
sbus_ptr->update();
#if HAL_SUPPORT_RCOUT_SERIAL
// give blheli telemetry a chance to update
blheli_ptr->update_telemetry();
#endif
}