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AP_BLHeli: more changes for 32 bit servo mask

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This commit is contained in:
Andrew Tridgell 2022-05-16 07:30:16 +10:00
parent 10d7a559d2
commit f3ce44ef2c
2 changed files with 4 additions and 4 deletions
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4
libraries/AP_BLHeli/AP_BLHeli.cpp
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@ -1377,7 +1377,7 @@ void AP_BLHeli::init(void)
AP_Motors *motors = AP::motors(); AP_Motors *motors = AP::motors();
#endif #endif
if (motors) { if (motors) {
uint16_t motormask = motors->get_motor_mask(); uint32_t motormask = motors->get_motor_mask();
// set the rest of the digital channels // set the rest of the digital channels
if (motors->is_digital_pwm_type()) { if (motors->is_digital_pwm_type()) {
digital_mask |= motormask; digital_mask |= motormask;
@ -1580,7 +1580,7 @@ void AP_BLHeli::update_telemetry(void)
break; break;
} }
} }
uint16_t mask = 1U << motor_map[idx]; uint32_t mask = 1U << motor_map[idx];
if (SRV_Channels::have_digital_outputs(mask)) { if (SRV_Channels::have_digital_outputs(mask)) {
hal.rcout->set_telem_request_mask(mask); hal.rcout->set_telem_request_mask(mask);
last_telem_esc = idx; last_telem_esc = idx;

4
libraries/AP_BLHeli/AP_BLHeli.h
View File

@ -53,7 +53,7 @@ public:
return channel_bidir_dshot_mask.get() & (1U << motor_map[esc_index]); return channel_bidir_dshot_mask.get() & (1U << motor_map[esc_index]);
} }
uint16_t get_bidir_dshot_mask() const { return channel_bidir_dshot_mask.get(); } uint32_t get_bidir_dshot_mask() const { return channel_bidir_dshot_mask.get(); }
static AP_BLHeli *get_singleton(void) { static AP_BLHeli *get_singleton(void) {
return _singleton; return _singleton;
@ -232,7 +232,7 @@ private:
// have we disabled motor outputs? // have we disabled motor outputs?
bool motors_disabled; bool motors_disabled;
// mask of channels that should normally be disabled // mask of channels that should normally be disabled
uint16_t motors_disabled_mask; uint32_t motors_disabled_mask;
// have we locked the UART? // have we locked the UART?
bool uart_locked; bool uart_locked;