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AP_Motors: fixed MotorsMatrix set_update_rate()

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This commit is contained in:
Andrew Tridgell 2017-04-17 19:00:14 +10:00
parent 0682d30ebd
commit efea83e424
1 changed files with 3 additions and 10 deletions
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13
libraries/AP_Motors/AP_MotorsMatrix.cpp
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@ -40,19 +40,12 @@ void AP_MotorsMatrix::init(motor_frame_class frame_class, motor_frame_type frame
// set update rate to motors - a value in hertz
void AP_MotorsMatrix::set_update_rate( uint16_t speed_hz )
{
uint8_t i;
// record requested speed
_speed_hz = speed_hz;
// check each enabled motor
uint32_t mask = 0;
for( i=0; i<AP_MOTORS_MAX_NUM_MOTORS; i++ ) {
if( motor_enabled[i] ) {
mask |= 1U << i;
}
}
rc_set_freq( mask, _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 );
}
// set frame class (i.e. quad, hexa, heli) and type (i.e. x, plus)