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AP_Motors: fix mask passed to rc_set_freq

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the full motor mask must be supplied to work correctly for oneshot and
dshot
This commit is contained in:
Andrew Tridgell 2018-03-14 19:52:57 +11:00
parent 610a6a6c88
commit e55d3a0834
1 changed files with 7 additions and 3 deletions
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10
libraries/AP_Motors/AP_MotorsMatrix.cpp
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@ -43,9 +43,13 @@ void AP_MotorsMatrix::set_update_rate( uint16_t speed_hz )
// record requested speed
_speed_hz = speed_hz;
// we can use a mask of 0xFF here as rc_set_freq masks with actual
// motor mask
rc_set_freq(0xFF, _speed_hz );
uint16_t mask = 0;
for (uint8_t i=0; i<AP_MOTORS_MAX_NUM_MOTORS; i++) {
if (motor_enabled[i]) {
mask |= 1U << i;
}
}
rc_set_freq(mask, _speed_hz );
}
// set frame class (i.e. quad, hexa, heli) and type (i.e. x, plus)