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AP_ToshibaCAN: more changes for 32 bit servo mask

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This commit is contained in:
Andrew Tridgell 2022-05-16 07:30:17 +10:00
parent 7f6196b550
commit 4557c8ad04
1 changed files with 3 additions and 3 deletions
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6
libraries/AP_ToshibaCAN/AP_ToshibaCAN.h
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@ -44,7 +44,7 @@ public:
void update();
// return a bitmask of escs that are "present" which means they are responding to requests. Bitmask matches RC outputs
uint16_t get_present_mask() const { return _esc_present_bitmask; }
uint32_t get_present_mask() const { return _esc_present_bitmask; }
private:
@ -106,8 +106,8 @@ private:
const float amp_ms_to_mah = 1.0f / 3600.0f; // for converting amp milliseconds to mAh
// variables for updating bitmask of responsive escs
uint16_t _esc_present_bitmask; // bitmask of which escs seem to be present
uint16_t _esc_present_bitmask_recent; // bitmask of escs that have responded in the last second
uint32_t _esc_present_bitmask; // bitmask of which escs seem to be present
uint32_t _esc_present_bitmask_recent; // bitmask of escs that have responded in the last second
uint32_t _esc_present_update_ms; // system time _esc_present_bitmask was last updated
// structure for sending motor lock command to ESC