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AP_Motors: allow enabling oneshot on a subset of motors

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This commit is contained in:
Andrew Tridgell 2016-04-22 13:24:04 +10:00
parent bcd0d48ced
commit fd7c87e629
2 changed files with 10 additions and 4 deletions
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13
libraries/AP_Motors/AP_Motors_Class.cpp
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@ -79,7 +79,7 @@ void AP_Motors::rc_write(uint8_t chan, uint16_t pwm)
// we have a mapped motor number for this channel
chan = _motor_map[chan];
}
if (_pwm_type == PWM_TYPE_ONESHOT125) {
if (_pwm_type == PWM_TYPE_ONESHOT125 && (_motor_fast_mask & (1U<<chan))) {
// OneShot125 uses a PWM range from 125 to 250 usec
pwm /= 8;
/*
@ -101,9 +101,14 @@ void AP_Motors::rc_write(uint8_t chan, uint16_t pwm)
*/
void AP_Motors::rc_set_freq(uint32_t mask, uint16_t freq_hz)
{
hal.rcout->set_freq(rc_map_mask(mask), freq_hz);
if (_pwm_type == PWM_TYPE_ONESHOT ||
_pwm_type == PWM_TYPE_ONESHOT125) {
mask = rc_map_mask(mask);
if (freq_hz > 50) {
_motor_fast_mask |= mask;
}
hal.rcout->set_freq(mask, freq_hz);
if ((_pwm_type == PWM_TYPE_ONESHOT ||
_pwm_type == PWM_TYPE_ONESHOT125) &&
freq_hz > 50) {
// tell HAL to do immediate output
hal.rcout->set_output_mode(AP_HAL::RCOutput::MODE_PWM_ONESHOT);
}

1
libraries/AP_Motors/AP_Motors_Class.h
View File

@ -176,6 +176,7 @@ protected:
// mapping to output channels
uint8_t _motor_map[AP_MOTORS_MAX_NUM_MOTORS];
uint16_t _motor_map_mask;
uint16_t _motor_fast_mask;
// pass through variables
float _roll_radio_passthrough = 0.0f; // roll input from pilot in -1 ~ +1 range. used for setup and providing servo feedback while landed