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Code Issues Wiki Activity

Fixed use_unsyncedpwm inversion issue

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This commit is contained in:
blckmn 2016-07-17 07:32:53 +10:00
parent fc54e696a1
commit 3126551832
1 changed files with 7 additions and 4 deletions
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11
src/main/flight/mixer.c
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@ -65,7 +65,7 @@ static flight3DConfig_t *flight3DConfig;
static escAndServoConfig_t *escAndServoConfig;
static airplaneConfig_t *airplaneConfig;
static rxConfig_t *rxConfig;
static bool syncPwm = false;
static bool syncPwmWithPidLoop = false;
static mixerMode_e currentMixerMode;
static motorMixer_t currentMixer[MAX_SUPPORTED_MOTORS];
@ -427,7 +427,7 @@ void mixerUsePWMOutputConfiguration(pwmOutputConfiguration_t *pwmOutputConfigura
motorCount = 0;
servoCount = pwmOutputConfiguration->servoCount;
syncPwm = use_unsyncedPwm;
syncPwmWithPidLoop = !use_unsyncedPwm;
if (currentMixerMode == MIXER_CUSTOM || currentMixerMode == MIXER_CUSTOM_TRI || currentMixerMode == MIXER_CUSTOM_AIRPLANE) {
// load custom mixer into currentMixer
@ -528,9 +528,12 @@ void mixerInit(mixerMode_e mixerMode, motorMixer_t *initialCustomMixers)
customMixers = initialCustomMixers;
}
void mixerUsePWMOutputConfiguration(pwmOutputConfiguration_t *pwmOutputConfiguration)
void mixerUsePWMOutputConfiguration(pwmOutputConfiguration_t *pwmOutputConfiguration, bool use_unsyncedPwm)
{
UNUSED(pwmOutputConfiguration);
syncPwmWithPidLoop = !use_unsyncedPwm;
motorCount = 4;
#ifdef USE_SERVOS
servoCount = 0;
@ -644,7 +647,7 @@ void writeMotors(void)
for (i = 0; i < motorCount; i++)
pwmWriteMotor(i, motor[i]);
if (syncPwm) {
if (syncPwmWithPidLoop) {
pwmCompleteOneshotMotorUpdate(motorCount);
}
}