aepko/Ardupilot2
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

AP_ESC_Telem: more changes for 32 bit servo mask

Browse Source
This commit is contained in:
Andrew Tridgell 2022-05-16 07:30:16 +10:00
parent 7ed8e8d3b6
commit d33734ee85
2 changed files with 4 additions and 4 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

6
libraries/AP_ESC_Telem/AP_ESC_Telem.cpp
View File

@ -76,8 +76,8 @@ uint8_t AP_ESC_Telem::get_motor_frequencies_hz(uint8_t nfreqs, float* freqs) con
// get mask of ESCs that sent valid telemetry data in the last
// ESC_TELEM_DATA_TIMEOUT_MS
uint16_t AP_ESC_Telem::get_active_esc_mask() const {
uint16_t ret = 0;
uint32_t AP_ESC_Telem::get_active_esc_mask() const {
uint32_t ret = 0;
const uint32_t now = AP_HAL::millis();
for (uint8_t i = 0; i < ESC_TELEM_MAX_ESCS; i++) {
if (now - _telem_data[i].last_update_ms >= ESC_TELEM_DATA_TIMEOUT_MS) {
@ -94,7 +94,7 @@ uint16_t AP_ESC_Telem::get_active_esc_mask() const {
// return number of active ESCs present
uint8_t AP_ESC_Telem::get_num_active_escs() const {
uint16_t active = get_active_esc_mask();
uint32_t active = get_active_esc_mask();
return __builtin_popcount(active);
}

2
libraries/AP_ESC_Telem/AP_ESC_Telem.h
View File

@ -68,7 +68,7 @@ public:
// get mask of ESCs that sent valid telemetry data in the last
// ESC_TELEM_DATA_TIMEOUT_MS
uint16_t get_active_esc_mask() const;
uint32_t get_active_esc_mask() const;
// return the last time telemetry data was received in ms for the given ESC or 0 if never
uint32_t get_last_telem_data_ms(uint8_t esc_index) const {