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AP_BLHeli: added SERVO_BLH_OTYPE

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this allows use of BLHeli telemetry on rover, sub and on quadplane fwd
motors
This commit is contained in:
Andrew Tridgell 2018-04-08 19:48:41 +10:00
parent 3b4d1d5d46
commit 0f2a7108d3
2 changed files with 43 additions and 0 deletions
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42
libraries/AP_BLHeli/AP_BLHeli.cpp
View File

@ -86,6 +86,13 @@ const AP_Param::GroupInfo AP_BLHeli::var_info[] = {
// @Values: 0:Disabled,1:Enabled
// @User: Standard
AP_GROUPINFO("DEBUG", 6, AP_BLHeli, debug_level, 0),
// @Param: OTYPE
// @DisplayName: Output type override
// @Description: When set to a non-zero value this overrides the output type for the output channels given by SERVO_BLH_MASK. This can be used to enable DShot on outputs that are not part of the multicopter motors group.
// @Values: 0:None,1:OneShot,2:OneShot125,3:Brushed,4:DShot150,5:DShot300,6:DShot600,7:DShot1200
// @User: Advanced
AP_GROUPINFO("OTYPE", 7, AP_BLHeli, output_type, 0),
AP_GROUPEND
};
@ -1138,6 +1145,40 @@ void AP_BLHeli::update(void)
uint16_t mask = uint16_t(channel_mask.get());
/*
allow mode override - this makes it possible to use DShot for
rovers and subs, plus for quadplane fwd motors
*/
AP_HAL::RCOutput::output_mode mode = AP_HAL::RCOutput::MODE_PWM_NONE;
switch (AP_Motors::pwm_type(output_type.get())) {
case AP_Motors::PWM_TYPE_ONESHOT:
mode = AP_HAL::RCOutput::MODE_PWM_ONESHOT;
break;
case AP_Motors::PWM_TYPE_ONESHOT125:
mode = AP_HAL::RCOutput::MODE_PWM_ONESHOT125;
break;
case AP_Motors::PWM_TYPE_BRUSHED:
mode = AP_HAL::RCOutput::MODE_PWM_BRUSHED;
break;
case AP_Motors::PWM_TYPE_DSHOT150:
mode = AP_HAL::RCOutput::MODE_PWM_DSHOT150;
break;
case AP_Motors::PWM_TYPE_DSHOT300:
mode = AP_HAL::RCOutput::MODE_PWM_DSHOT300;
break;
case AP_Motors::PWM_TYPE_DSHOT600:
mode = AP_HAL::RCOutput::MODE_PWM_DSHOT600;
break;
case AP_Motors::PWM_TYPE_DSHOT1200:
mode = AP_HAL::RCOutput::MODE_PWM_DSHOT1200;
break;
default:
break;
}
if (mask && mode != AP_HAL::RCOutput::MODE_PWM_NONE) {
hal.rcout->set_output_mode(mask, mode);
}
#if APM_BUILD_TYPE(APM_BUILD_ArduCopter) || APM_BUILD_TYPE(APM_BUILD_ArduPlane)
/*
plane and copter can use AP_Motors to get an automatic mask
@ -1165,6 +1206,7 @@ void AP_BLHeli::update(void)
telem_uart = serial_manager->find_serial(AP_SerialManager::SerialProtocol_ESCTelemetry,0);
}
}
}
/*

1
libraries/AP_BLHeli/AP_BLHeli.h
View File

@ -50,6 +50,7 @@ private:
AP_Int16 timeout_sec;
AP_Int16 telem_rate;
AP_Int8 debug_level;
AP_Int8 output_type;
enum mspState {
MSP_IDLE=0,