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AP_BLHeli: clean-up up digital outputs settings

This commit is contained in:
Andy Piper 2021-05-06 14:13:00 +01:00 committed by Andrew Tridgell
parent db85df1051
commit df1086c4f3
1 changed files with 9 additions and 10 deletions
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19
libraries/AP_BLHeli/AP_BLHeli.cpp
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@ -1340,11 +1340,12 @@ void AP_BLHeli::init(void)
hal.rcout->set_output_mode(mask, mode);
}
uint16_t digital_mask = 0;
// setting the digital mask changes the min/max PWM values
// it's important that this is NOT done for non-digital channels as otherwise
// PWM min can result in motors turning. set for individual overrides first
if (mask && otype >= AP_Motors::PWM_TYPE_DSHOT150) {
SRV_Channels::set_digital_mask(mask);
digital_mask = mask;
}
#if APM_BUILD_TYPE(APM_BUILD_ArduCopter) || APM_BUILD_TYPE(APM_BUILD_ArduPlane)
@ -1355,26 +1356,24 @@ void AP_BLHeli::init(void)
AP_Motors *motors = AP_Motors::get_singleton();
if (motors) {
uint16_t motormask = motors->get_motor_mask();
mask |= motormask;
// set the rest of the digital channels
if (motors->get_pwm_type() >= AP_Motors::PWM_TYPE_DSHOT150) {
SRV_Channels::set_digital_mask(motormask);
digital_mask |= motormask;
}
mask |= motormask;
}
}
#endif
// tell SRV_Channels about ESC capabilities
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
SRV_Channels::set_digital_outputs(digital_mask, uint16_t(channel_reversible_mask.get()) & digital_mask);
// the dshot ESC type is required in order to send the reversed/reversible dshot command 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);
hal.rcout->set_reversible_mask(uint16_t(channel_reversible_mask.get()) & digital_mask);
hal.rcout->set_reversed_mask(uint16_t(channel_reversed_mask.get()) & digital_mask);
#ifdef HAL_WITH_BIDIR_DSHOT
// possibly enable bi-directional dshot
hal.rcout->set_bidir_dshot_mask(channel_bidir_dshot_mask.get() & mask);
hal.rcout->set_motor_poles(motor_poles);
hal.rcout->set_bidir_dshot_mask(uint16_t(channel_bidir_dshot_mask.get()) & digital_mask);
#endif
// add motors from channel mask
for (uint8_t i=0; i<16 && num_motors < max_motors; i++) {