mirror of https://github.com/ArduPilot/ardupilot
AP_Motors: more changes for 32 bit servo mask
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@ -215,7 +215,7 @@ void AP_MotorsHeli_Dual::set_update_rate( uint16_t speed_hz )
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_speed_hz = speed_hz;
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_speed_hz = speed_hz;
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// setup fast channels
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// setup fast channels
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uint16_t mask = 0;
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uint32_t mask = 0;
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for (uint8_t i=0; i<AP_MOTORS_HELI_DUAL_NUM_SWASHPLATE_SERVOS; i++) {
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for (uint8_t i=0; i<AP_MOTORS_HELI_DUAL_NUM_SWASHPLATE_SERVOS; i++) {
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mask |= 1U << (AP_MOTORS_MOT_1+i);
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mask |= 1U << (AP_MOTORS_MOT_1+i);
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}
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}
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@ -117,7 +117,7 @@ void AP_MotorsMatrix::set_update_rate(uint16_t speed_hz)
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// record requested speed
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// record requested speed
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_speed_hz = speed_hz;
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_speed_hz = speed_hz;
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uint16_t mask = 0;
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uint32_t mask = 0;
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for (uint8_t i = 0; i < AP_MOTORS_MAX_NUM_MOTORS; i++) {
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for (uint8_t i = 0; i < AP_MOTORS_MAX_NUM_MOTORS; i++) {
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if (motor_enabled[i]) {
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if (motor_enabled[i]) {
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mask |= 1U << i;
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mask |= 1U << i;
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@ -309,10 +309,10 @@ protected:
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float _air_density_ratio; // air density / sea level density - decreases in altitude
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float _air_density_ratio; // air density / sea level density - decreases in altitude
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// mask of what channels need fast output
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// mask of what channels need fast output
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uint16_t _motor_fast_mask;
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uint32_t _motor_fast_mask;
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// mask of what channels need to use SERVOn_MIN/MAX for output mapping
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// mask of what channels need to use SERVOn_MIN/MAX for output mapping
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uint16_t _motor_pwm_range_mask;
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uint32_t _motor_pwm_range_mask;
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// pass through variables
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// pass through variables
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float _roll_radio_passthrough; // roll input from pilot in -1 ~ +1 range. used for setup and providing servo feedback while landed
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float _roll_radio_passthrough; // roll input from pilot in -1 ~ +1 range. used for setup and providing servo feedback while landed
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