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AP_Periph: cope with GCS enabled for ESC telem

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thanks Tom!
This commit is contained in:
Andrew Tridgell 2021-12-10 07:30:58 +11:00 committed by Tom Pittenger
parent c9b35ccfc8
commit 75959450ca
3 changed files with 4 additions and 2 deletions
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2
Tools/AP_Periph/Parameters.cpp
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@ -307,7 +307,7 @@ const AP_Param::Info AP_Periph_FW::var_info[] = {
// @RebootRequired: True // @RebootRequired: True
GSCALAR(esc_pwm_type, "ESC_PWM_TYPE", 0), GSCALAR(esc_pwm_type, "ESC_PWM_TYPE", 0),
#if HAL_WITH_ESC_TELEM #if HAL_WITH_ESC_TELEM && !HAL_GCS_ENABLED
// @Param: ESC_TELEM_PORT // @Param: ESC_TELEM_PORT
// @DisplayName: ESC Telemetry Serial Port // @DisplayName: ESC Telemetry Serial Port
// @Description: This is the serial port number where SERIALx_PROTOCOL will be set to ESC Telemetry // @Description: This is the serial port number where SERIALx_PROTOCOL will be set to ESC Telemetry

2
Tools/AP_Periph/Parameters.h
View File

@ -106,7 +106,7 @@ public:
#ifdef HAL_PERIPH_ENABLE_RC_OUT #ifdef HAL_PERIPH_ENABLE_RC_OUT
AP_Int8 esc_pwm_type; AP_Int8 esc_pwm_type;
#if HAL_WITH_ESC_TELEM #if HAL_WITH_ESC_TELEM && !HAL_GCS_ENABLED
AP_Int8 esc_telem_port; AP_Int8 esc_telem_port;
#endif #endif
#endif #endif

2
Tools/AP_Periph/rc_out.cpp
View File

@ -31,9 +31,11 @@ void AP_Periph_FW::rcout_init()
// start up with safety enabled. This disables the pwm output until we receive an packet from the rempte system // start up with safety enabled. This disables the pwm output until we receive an packet from the rempte system
hal.rcout->force_safety_on(); hal.rcout->force_safety_on();
#if HAL_WITH_ESC_TELEM && !HAL_GCS_ENABLED
if (g.esc_telem_port >= 0) { if (g.esc_telem_port >= 0) {
serial_manager.set_protocol_and_baud(g.esc_telem_port, AP_SerialManager::SerialProtocol_ESCTelemetry, 115200); serial_manager.set_protocol_and_baud(g.esc_telem_port, AP_SerialManager::SerialProtocol_ESCTelemetry, 115200);
} }
#endif
SRV_Channels::init(); SRV_Channels::init();