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AP_Motors: don't scale oneshot125 in AP_Motors

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handle it in the HAL backends, to allow for correct resolution
This commit is contained in:
Andrew Tridgell 2018-04-03 18:11:31 +10:00
parent a1ba582a5d
commit 819de4acd5
1 changed files with 5 additions and 16 deletions
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21
libraries/AP_Motors/AP_Motors_Class.cpp
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@ -86,20 +86,6 @@ void AP_Motors::set_radio_passthrough(float roll_input, float pitch_input, float
*/
void AP_Motors::rc_write(uint8_t chan, uint16_t pwm)
{
if (_pwm_type == PWM_TYPE_ONESHOT125 && (_motor_fast_mask & (1U<<chan))) {
// OneShot125 uses a PWM range from 125 to 250 usec
pwm /= 8;
/*
OneShot125 ESCs can be confused by pulses below 125 or above
250, making them fail the pulse type auto-detection. This
happens at least with BLHeli
*/
if (pwm < 125) {
pwm = 125;
} else if (pwm > 250) {
pwm = 250;
}
}
SRV_Channel::Aux_servo_function_t function = SRV_Channels::get_motor_function(chan);
SRV_Channels::set_output_pwm(function, pwm);
}
@ -118,10 +104,13 @@ void AP_Motors::rc_set_freq(uint32_t mask, uint16_t freq_hz)
switch (pwm_type(_pwm_type.get())) {
case PWM_TYPE_ONESHOT:
if (freq_hz > 50 && mask != 0) {
hal.rcout->set_output_mode(mask, AP_HAL::RCOutput::MODE_PWM_ONESHOT);
}
break;
case PWM_TYPE_ONESHOT125:
if (freq_hz > 50 && mask != 0) {
// tell HAL to do immediate output
hal.rcout->set_output_mode(mask, AP_HAL::RCOutput::MODE_PWM_ONESHOT);
hal.rcout->set_output_mode(mask, AP_HAL::RCOutput::MODE_PWM_ONESHOT125);
}
break;
case PWM_TYPE_BRUSHED: