From abd0831239e7831e62a5ca07fd24ecd5d0258607 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Fri, 16 Jun 2017 21:23:37 +1000
Subject: [PATCH] AP_Motors: changed BRUSHED16kHz to BRUSHED

---
 libraries/AP_Motors/AP_MotorsMulticopter.cpp | 2 +-
 libraries/AP_Motors/AP_Motors_Class.cpp      | 4 ++--
 libraries/AP_Motors/AP_Motors_Class.h        | 2 +-
 3 files changed, 4 insertions(+), 4 deletions(-)

diff --git a/libraries/AP_Motors/AP_MotorsMulticopter.cpp b/libraries/AP_Motors/AP_MotorsMulticopter.cpp
index 4fea1d7d96..22ec517523 100644
--- a/libraries/AP_Motors/AP_MotorsMulticopter.cpp
+++ b/libraries/AP_Motors/AP_MotorsMulticopter.cpp
@@ -83,7 +83,7 @@ const AP_Param::GroupInfo AP_MotorsMulticopter::var_info[] = {
     // @Param: PWM_TYPE
     // @DisplayName: Output PWM type
     // @Description: This selects the output PWM type, allowing for normal PWM continuous output, OneShot or brushed motor output
-    // @Values: 0:Normal,1:OneShot,2:OneShot125,3:Brushed16kHz
+    // @Values: 0:Normal,1:OneShot,2:OneShot125,3:Brushed
     // @User: Advanced
     // @RebootRequired: True
     AP_GROUPINFO("PWM_TYPE", 15, AP_MotorsMulticopter, _pwm_type, PWM_TYPE_NORMAL),
diff --git a/libraries/AP_Motors/AP_Motors_Class.cpp b/libraries/AP_Motors/AP_Motors_Class.cpp
index 69e8f53ad0..ad1a283332 100644
--- a/libraries/AP_Motors/AP_Motors_Class.cpp
+++ b/libraries/AP_Motors/AP_Motors_Class.cpp
@@ -120,8 +120,8 @@ void AP_Motors::rc_set_freq(uint32_t mask, uint16_t freq_hz)
         mask != 0) {
         // tell HAL to do immediate output
         hal.rcout->set_output_mode(AP_HAL::RCOutput::MODE_PWM_ONESHOT);
-    } else if (_pwm_type == PWM_TYPE_BRUSHED16kHz) {
-        hal.rcout->set_output_mode(AP_HAL::RCOutput::MODE_PWM_BRUSHED16KHZ);
+    } else if (_pwm_type == PWM_TYPE_BRUSHED) {
+        hal.rcout->set_output_mode(AP_HAL::RCOutput::MODE_PWM_BRUSHED);
     }
 }
 
diff --git a/libraries/AP_Motors/AP_Motors_Class.h b/libraries/AP_Motors/AP_Motors_Class.h
index df1269937e..17069b1775 100644
--- a/libraries/AP_Motors/AP_Motors_Class.h
+++ b/libraries/AP_Motors/AP_Motors_Class.h
@@ -164,7 +164,7 @@ public:
     // set loop rate. Used to support loop rate as a parameter
     void                set_loop_rate(uint16_t loop_rate) { _loop_rate = loop_rate; }
 
-    enum pwm_type { PWM_TYPE_NORMAL=0, PWM_TYPE_ONESHOT=1, PWM_TYPE_ONESHOT125=2, PWM_TYPE_BRUSHED16kHz=3 };
+    enum pwm_type { PWM_TYPE_NORMAL=0, PWM_TYPE_ONESHOT=1, PWM_TYPE_ONESHOT125=2, PWM_TYPE_BRUSHED=3 };
     pwm_type            get_pwm_type(void) const { return (pwm_type)_pwm_type.get(); }
     
 protected: