AP_Motors: include boost_throttle in get_motor_mask

ArduPilot · Aug 27, 2018 · a5c59ce · a5c59ce
1 parent f85e84c
commit a5c59ce
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Showing 6 changed files with 44 additions and 11 deletions.
diff --git a/libraries/AP_Motors/AP_MotorsCoax.cpp b/libraries/AP_Motors/AP_MotorsCoax.cpp
@@ -103,14 +103,19 @@ void AP_MotorsCoax::output_to_motors()
 //  this can be used to ensure other pwm outputs (i.e. for servos) do not conflict
 uint16_t AP_MotorsCoax::get_motor_mask()
 {
-    uint32_t mask =
+    uint32_t motor_mask =
         1U << AP_MOTORS_MOT_1 |
         1U << AP_MOTORS_MOT_2 |
         1U << AP_MOTORS_MOT_3 |
         1U << AP_MOTORS_MOT_4 |
         1U << AP_MOTORS_MOT_5 |
         1U << AP_MOTORS_MOT_6;
-    return rc_map_mask(mask);
+    uint16_t mask = rc_map_mask(motor_mask);
+
+    // add parent's mask
+    mask |= AP_MotorsMulticopter::get_motor_mask();
+
+    return mask;
 }
 
 // sends commands to the motors

diff --git a/libraries/AP_Motors/AP_MotorsMatrix.cpp b/libraries/AP_Motors/AP_MotorsMatrix.cpp
@@ -122,13 +122,18 @@ void AP_MotorsMatrix::output_to_motors()
 //  this can be used to ensure other pwm outputs (i.e. for servos) do not conflict
 uint16_t AP_MotorsMatrix::get_motor_mask()
 {
-    uint16_t mask = 0;
+    uint16_t motor_mask = 0;
     for (uint8_t i=0; i<AP_MOTORS_MAX_NUM_MOTORS; i++) {
         if (motor_enabled[i]) {
-            mask |= 1U << i;
+            motor_mask |= 1U << i;
         }
     }
-    return rc_map_mask(mask);
+    uint16_t mask = rc_map_mask(motor_mask);
+
+    // add parent's mask
+    mask |= AP_MotorsMulticopter::get_motor_mask();
+
+    return mask;
 }
 
 // output_armed - sends commands to the motors

diff --git a/libraries/AP_Motors/AP_MotorsMulticopter.cpp b/libraries/AP_Motors/AP_MotorsMulticopter.cpp
@@ -610,6 +610,13 @@ void AP_MotorsMulticopter::output_motor_mask(float thrust, uint8_t mask)
     }
 }
 
+// get_motor_mask - returns a bitmask of which outputs are being used for motors (1 means being used)
+//  this can be used to ensure other pwm outputs (i.e. for servos) do not conflict
+uint16_t AP_MotorsMulticopter::get_motor_mask()
+{
+    return SRV_Channels::get_output_channel_mask(SRV_Channel::k_boost_throttle);
+}
+
 // save parameters as part of disarming
 void AP_MotorsMulticopter::save_params_on_disarm()
 {

diff --git a/libraries/AP_Motors/AP_MotorsMulticopter.h b/libraries/AP_Motors/AP_MotorsMulticopter.h
@@ -86,6 +86,10 @@ class AP_MotorsMulticopter : public AP_Motors {
     // flight. Thrust is in the range 0 to 1
     virtual void        output_motor_mask(float thrust, uint8_t mask);
 
+    // get_motor_mask - returns a bitmask of which outputs are being used for motors (1 means being used)
+    //  this can be used to ensure other pwm outputs (i.e. for servos) do not conflict
+    virtual uint16_t    get_motor_mask() override;
+
     // get minimum or maximum pwm value that can be output to motors
     int16_t             get_pwm_output_min() const;
     int16_t             get_pwm_output_max() const;

diff --git a/libraries/AP_Motors/AP_MotorsSingle.cpp b/libraries/AP_Motors/AP_MotorsSingle.cpp
@@ -106,14 +106,20 @@ void AP_MotorsSingle::output_to_motors()
 //  this can be used to ensure other pwm outputs (i.e. for servos) do not conflict
 uint16_t AP_MotorsSingle::get_motor_mask()
 {
-    uint32_t mask =
+    uint32_t motor_mask =
         1U << AP_MOTORS_MOT_1 |
         1U << AP_MOTORS_MOT_2 |
         1U << AP_MOTORS_MOT_3 |
         1U << AP_MOTORS_MOT_4 |
         1U << AP_MOTORS_MOT_5 |
         1U << AP_MOTORS_MOT_6;
-    return rc_map_mask(mask);
+
+    uint16_t mask = rc_map_mask(motor_mask);
+
+    // add parent's mask
+    mask |= AP_MotorsMulticopter::get_motor_mask();
+
+    return mask;
 }
 
 // sends commands to the motors

diff --git a/libraries/AP_Motors/AP_MotorsTri.cpp b/libraries/AP_Motors/AP_MotorsTri.cpp
@@ -109,10 +109,16 @@ void AP_MotorsTri::output_to_motors()
 uint16_t AP_MotorsTri::get_motor_mask()
 {
     // tri copter uses channels 1,2,4 and 7
-    return rc_map_mask((1U << AP_MOTORS_MOT_1) |
-                       (1U << AP_MOTORS_MOT_2) |
-                       (1U << AP_MOTORS_MOT_4) |
-                       (1U << AP_MOTORS_CH_TRI_YAW));
+    uint16_t motor_mask = (1U << AP_MOTORS_MOT_1) |
+                          (1U << AP_MOTORS_MOT_2) |
+                          (1U << AP_MOTORS_MOT_4) |
+                          (1U << AP_MOTORS_CH_TRI_YAW);
+    uint16_t mask = rc_map_mask(motor_mask);
+
+    // add parent's mask
+    mask |= AP_MotorsMulticopter::get_motor_mask();
+
+    return mask;
 }
 
 // output_armed - sends commands to the motors