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AP_HAL_ChibiOS: correctly allow mixing of bidir and non-bidir channels

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Andy Piper 2021-01-20 21:53:33 +00:00 committed by Andrew Tridgell
parent 2823fa7245
commit 9249b73e8b
1 changed files with 3 additions and 3 deletions
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6
libraries/AP_HAL_ChibiOS/RCOutput.cpp
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@ -1079,8 +1079,8 @@ void RCOutput::dshot_send(pwm_group &group, bool blocking)
// assume that we won't be able to get the input capture lock // assume that we won't be able to get the input capture lock
group.bdshot.enabled = false; group.bdshot.enabled = false;
// now grab the input capture lock if we are able // now grab the input capture lock if we are able, we can only enable bi-dir on a group basis
if ((_bdshot.mask & (1 << group.chan[group.bdshot.curr_telem_chan])) && group.has_ic()) { if (((_bdshot.mask & group.ch_mask) == group.ch_mask) && group.has_ic()) {
if (group.has_shared_ic_up_dma()) { if (group.has_shared_ic_up_dma()) {
// no locking required // no locking required
group.bdshot.enabled = true; group.bdshot.enabled = true;
@ -1163,7 +1163,7 @@ void RCOutput::dshot_send(pwm_group &group, bool blocking)
} }
bool request_telemetry = (telem_request_mask & chan_mask)?true:false; bool request_telemetry = (telem_request_mask & chan_mask)?true:false;
uint16_t packet = create_dshot_packet(value, request_telemetry, _bdshot.mask); uint16_t packet = create_dshot_packet(value, request_telemetry, group.bdshot.enabled);
if (request_telemetry) { if (request_telemetry) {
telem_request_mask &= ~chan_mask; telem_request_mask &= ~chan_mask;
} }