Mirror/ardupilot
5
0
Fork 0
mirror of https://github.com/ArduPilot/ardupilot synced 2025-02-09 01:13:57 -04:00
Code Issues Packages Projects Releases Wiki Activity

AP_Motors: fix mask passed to rc_set_freq

Browse Source 
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
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

10
libraries/AP_Motors/AP_MotorsMatrix.cpp
View File

@ -43,9 +43,13 @@ void AP_MotorsMatrix::set_update_rate( uint16_t speed_hz )
// record requested speed // record requested speed
_speed_hz = speed_hz; _speed_hz = speed_hz;
// we can use a mask of 0xFF here as rc_set_freq masks with actual uint16_t mask = 0;
// motor mask for (uint8_t i=0; i<AP_MOTORS_MAX_NUM_MOTORS; i++) {
rc_set_freq(0xFF, _speed_hz ); 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) // set frame class (i.e. quad, hexa, heli) and type (i.e. x, plus)