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delete MOT_ORDERING

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This commit is contained in:
Daniel Agar
2022-09-09 09:14:09 -04:00
parent a7bbcd5b04
commit 72efe84b80
4 changed files with 5 additions and 54 deletions
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src/drivers/dshot/DShot.cpp
+3 -3
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@@ -262,7 +262,7 @@ int DShot::send_command_thread_safe(const dshot_command_t command, const int num
cmd.motor_mask = 0xff;
} else {
cmd.motor_mask = 1 << _mixing_output.reorderedMotorIndex(motor_index);
cmd.motor_mask = 1 << motor_index;
}
cmd.num_repetitions = num_repetitions;
@@ -320,7 +320,7 @@ int DShot::request_esc_info()
_telemetry->handler.redirectOutput(*_request_esc_info.load());
_waiting_for_esc_info = true;
int motor_index = _mixing_output.reorderedMotorIndex(_request_esc_info.load()->motor_index);
int motor_index = _request_esc_info.load()->motor_index;
_current_command.motor_mask = 1 << motor_index;
_current_command.num_repetitions = 1;
@@ -352,7 +352,7 @@ bool DShot::updateOutputs(bool stop_motors, uint16_t outputs[MAX_ACTUATORS],
requested_telemetry_index = request_esc_info();
} else {
requested_telemetry_index = _mixing_output.reorderedMotorIndex(_telemetry->handler.getRequestMotorIndex());
requested_telemetry_index = _telemetry->handler.getRequestMotorIndex();
}
}