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AP_Motors: trigger digital throttle range with digital outputs

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Andy Piper 2021-05-02 14:02:17 +01:00 committed by Andrew Tridgell
parent 4905b5152d
commit d70b8425f7
1 changed files with 4 additions and 4 deletions
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8
libraries/AP_Motors/AP_MotorsMulticopter.cpp
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@ -512,10 +512,10 @@ void AP_MotorsMulticopter::set_throttle_range(int16_t radio_min, int16_t radio_m
_throttle_radio_min = radio_min;
_throttle_radio_max = radio_max;
if (_pwm_type >= PWM_TYPE_DSHOT150 && _pwm_type <= PWM_TYPE_DSHOT1200) {
// force PWM range for DShot ESCs
_pwm_min.set(1000);
_pwm_max.set(2000);
// if all outputs are digital adjust the range
if (SRV_Channels::have_digital_outputs(get_motor_mask())) {
_pwm_min = 1000;
_pwm_max = 2000;
}
hal.rcout->set_esc_scaling(get_pwm_output_min(), get_pwm_output_max());