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AP_HAL_ChibiOS: set pwm output values in simstate object

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Peter Barker 2021-11-01 18:17:10 +11:00 committed by Peter Barker
parent 8b2f85756a
commit f7608c22da
1 changed files with 10 additions and 0 deletions
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10
libraries/AP_HAL_ChibiOS/RCOutput.cpp
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@ -32,6 +32,10 @@
#include <GCS_MAVLink/GCS.h> #include <GCS_MAVLink/GCS.h>
#endif #endif
#if AP_SIM_ENABLED
#include <AP_HAL/SIMState.h>
#endif
#if HAL_USE_PWM == TRUE #if HAL_USE_PWM == TRUE
#include <SRV_Channel/SRV_Channel.h> #include <SRV_Channel/SRV_Channel.h>
@ -512,11 +516,17 @@ void RCOutput::disable_ch(uint8_t chan)
void RCOutput::write(uint8_t chan, uint16_t period_us) void RCOutput::write(uint8_t chan, uint16_t period_us)
{ {
if (chan >= max_channels) { if (chan >= max_channels) {
return; return;
} }
last_sent[chan] = period_us; last_sent[chan] = period_us;
#if AP_SIM_ENABLED
hal.simstate->pwm_output[chan] = period_us;
return;
#endif
#if HAL_WITH_IO_MCU #if HAL_WITH_IO_MCU
// handle IO MCU channels // handle IO MCU channels
if (AP_BoardConfig::io_enabled()) { if (AP_BoardConfig::io_enabled()) {