Mirror
/
ardupilot
mirror of https://github.com/ArduPilot/ardupilot
5
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity

AP_BLHeli: correct documentation for passthrough port 

pre-emptively setup serial passthrough to increase BLHeliSuite reliability
This commit is contained in:
Andy Piper 2022-02-06 16:05:59 +00:00 committed by Andrew Tridgell
parent ab25fc659a
commit ddfef6944b
1 changed files with 11 additions and 3 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

14
libraries/AP_BLHeli/AP_BLHeli.cpp
View File

@ -106,8 +106,8 @@ const AP_Param::GroupInfo AP_BLHeli::var_info[] = {
// @Param: PORT
// @DisplayName: Control port
// @Description: This sets the serial port to use for blheli pass-thru
// @Values: 0:Console,1:Serial1,2:Serial2,3:Serial3,4:Serial4,5:Serial5
// @Description: This sets the mavlink channel to use for blheli pass-thru. The channel number is determined by the number of serial ports configured to use mavlink. So 0 is always the console, 1 is the next serial port using mavlink, 2 the next after that and so on.
// @Values: 0:Console,1:Mavlink Serial Channel1,2:Mavlink Serial Channel2,3:Mavlink Serial Channel3,4:Mavlink Serial Channel4,5:Mavlink Serial Channel5
// @User: Advanced
AP_GROUPINFO("PORT", 8, AP_BLHeli, control_port, 0),
@ -515,7 +515,15 @@ void AP_BLHeli::msp_process_command(void)
serial_start_ms = 0;
break;
}
msp_send_reply(msp.cmdMSP, &n, 1);
// doing the serial setup here avoids delays when doing it on demand and makes
// BLHeliSuite considerably more reliable
EXPECT_DELAY_MS(1000);
if (!hal.rcout->serial_setup_output(motor_map[0], 19200, motor_mask)) {
msp_send_ack(ACK_D_GENERAL_ERROR);
break;
} else {
msp_send_reply(msp.cmdMSP, &n, 1);
}
break;
}
default: