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AP_Motors: more changes for 32 bit servo mask

This commit is contained in:
Andrew Tridgell 2022-05-16 07:30:16 +10:00
parent bb8ebeebe2
commit f00a227b33
3 changed files with 4 additions and 4 deletions
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2
libraries/AP_Motors/AP_MotorsHeli_Dual.cpp
View File

@ -215,7 +215,7 @@ void AP_MotorsHeli_Dual::set_update_rate( uint16_t speed_hz )
_speed_hz = speed_hz;
// setup fast channels
uint16_t mask = 0;
uint32_t mask = 0;
for (uint8_t i=0; i<AP_MOTORS_HELI_DUAL_NUM_SWASHPLATE_SERVOS; i++) {
mask |= 1U << (AP_MOTORS_MOT_1+i);
}

2
libraries/AP_Motors/AP_MotorsMatrix.cpp
View File

@ -117,7 +117,7 @@ void AP_MotorsMatrix::set_update_rate(uint16_t speed_hz)
// record requested speed
_speed_hz = speed_hz;
uint16_t mask = 0;
uint32_t mask = 0;
for (uint8_t i = 0; i < AP_MOTORS_MAX_NUM_MOTORS; i++) {
if (motor_enabled[i]) {
mask |= 1U << i;

4
libraries/AP_Motors/AP_Motors_Class.h
View File

@ -309,10 +309,10 @@ protected:
float _air_density_ratio; // air density / sea level density - decreases in altitude
// mask of what channels need fast output
uint16_t _motor_fast_mask;
uint32_t _motor_fast_mask;
// mask of what channels need to use SERVOn_MIN/MAX for output mapping
uint16_t _motor_pwm_range_mask;
uint32_t _motor_pwm_range_mask;
// pass through variables
float _roll_radio_passthrough; // roll input from pilot in -1 ~ +1 range. used for setup and providing servo feedback while landed