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AP_BLHeli: allow both reversed and reversible states to be set 

change dshot command mask names
mark ESCs active when telemety is returned
set dshot esc type
This commit is contained in:
Andy Piper 2021-04-26 20:10:39 +01:00 committed by Andrew Tridgell
parent e710799b12
commit dee4ce3d35
2 changed files with 21 additions and 5 deletions
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25
libraries/AP_BLHeli/AP_BLHeli.cpp
View File

@ -112,12 +112,13 @@ const AP_Param::GroupInfo AP_BLHeli::var_info[] = {
// @User: Advanced
AP_GROUPINFO("POLES", 9, AP_BLHeli, motor_poles, 14),
// @Param: REMASK
// @DisplayName: BLHeli bitmask of reversible channels
// @Description: Mask of channels which are reversible. This is used for ESCs which have been configured in '3D' mode, allowing for the motor to spin in either direction
// @Param: 3DMASK
// @DisplayName: BLHeli bitmask of 3D channels
// @Description: Mask of channels which are dynamically reversible. This is used to configure ESCs in '3D' mode, allowing for the motor to spin in either direction
// @Bitmask: 0:Channel1,1:Channel2,2:Channel3,3:Channel4,4:Channel5,5:Channel6,6:Channel7,7:Channel8,8:Channel9,9:Channel10,10:Channel11,11:Channel12,12:Channel13,13:Channel14,14:Channel15,15:Channel16
// @User: Advanced
AP_GROUPINFO("REMASK", 10, AP_BLHeli, channel_reversible_mask, 0),
AP_GROUPINFO("3DMASK", 10, AP_BLHeli, channel_reversible_mask, 0),
#ifdef HAL_WITH_BIDIR_DSHOT
// @Param: BDMASK
// @DisplayName: BLHeli bitmask of bi-directional dshot channels
@ -126,6 +127,13 @@ const AP_Param::GroupInfo AP_BLHeli::var_info[] = {
// @User: Advanced
AP_GROUPINFO("BDMASK", 11, AP_BLHeli, channel_bidir_dshot_mask, 0),
#endif
// @Param: RVMASK
// @DisplayName: BLHeli bitmask of reversed channels
// @Description: Mask of channels which are reversed. This is used to configure ESCs in reversed mode
// @Bitmask: 0:Channel1,1:Channel2,2:Channel3,3:Channel4,4:Channel5,5:Channel6,6:Channel7,7:Channel8,8:Channel9,9:Channel10,10:Channel11,11:Channel12,12:Channel13,13:Channel14,14:Channel15,15:Channel16
// @User: Advanced
AP_GROUPINFO("RVMASK", 12, AP_BLHeli, channel_reversed_mask, 0),
AP_GROUPEND
};
@ -1259,7 +1267,9 @@ void AP_BLHeli::update(void)
// check the user hasn't goofed, this also prevents weird crashes on arming
if (!initialised && channel_mask.get() == 0 && channel_auto.get() == 0
&& (channel_bidir_dshot_mask.get() != 0 || channel_reversible_mask.get())) {
&& (channel_bidir_dshot_mask.get() != 0
|| channel_reversible_mask.get() != 0
|| channel_reversed_mask.get() != 0)) {
AP_BoardConfig::config_error("DSHOT needs SERVO_BLH_AUTO or _MASK");
}
@ -1335,7 +1345,10 @@ void AP_BLHeli::update(void)
// tell SRV_Channels about ESC capabilities
SRV_Channels::set_digital_mask(mask);
SRV_Channels::set_reversible_mask(uint16_t(channel_reversible_mask.get()) & mask);
// the dshot ESC type is required in order to set the reversed/reversible mask correctly
hal.rcout->set_dshot_esc_type(SRV_Channels::get_dshot_esc_type());
hal.rcout->set_reversible_mask(channel_reversible_mask.get() & mask);
hal.rcout->set_reversed_mask(channel_reversed_mask.get() & mask);
#ifdef HAL_WITH_BIDIR_DSHOT
// possibly enable bi-directional dshot
hal.rcout->set_bidir_dshot_mask(channel_bidir_dshot_mask.get() & mask);
@ -1483,6 +1496,8 @@ void AP_BLHeli::read_telemetry_packet(void)
float terr = 0.0f;
const uint8_t motor_idx = motor_map[last_telem_esc];
// we have received valid data, mark the ESC as now active
hal.rcout->set_active_escs_mask(1<<motor_idx);
if (logger && logger->logging_enabled()
// log at 10Hz

1
libraries/AP_BLHeli/AP_BLHeli.h
View File

@ -89,6 +89,7 @@ private:
// mask of channels to use for BLHeli protocol
AP_Int32 channel_mask;
AP_Int32 channel_reversible_mask;
AP_Int32 channel_reversed_mask;
AP_Int8 channel_auto;
AP_Int8 run_test;
AP_Int16 timeout_sec;