// set update rate to motors - a value in hertz
void AP_MotorsSingle::set_update_rate( uint16_t speed_hz )
{
// record requested speed
_speed_hz = speed_hz;
// set update rate for the 3 motors (but not the servo on channel 7)
uint32_t mask =
1U << AP_MOTORS_MOT_1 |
1U << AP_MOTORS_MOT_2 |
1U << AP_MOTORS_MOT_3 |
1U << AP_MOTORS_MOT_4 ;
rc_set_freq(mask, _servo_speed);
uint32_t mask2 = 1U << AP_MOTORS_MOT_7;
rc_set_freq(mask2, _speed_hz);
}
// set update rate to motors - a value in hertz
void AP_MotorsMatrix::set_update_rate( uint16_t speed_hz )
{
// record requested speed
_speed_hz = speed_hz;
// we can use a mask of 0xFF here as rc_set_freq masks with actual
// motor mask
rc_set_freq(0xFF, _speed_hz );
}
// set update rate to motors - a value in hertz
void AP_MotorsSingle::set_update_rate( uint16_t speed_hz )
{
// record requested speed
_speed_hz = speed_hz;
uint32_t mask =
1U << AP_MOTORS_MOT_5 |
1U << AP_MOTORS_MOT_6 ;
rc_set_freq(mask, _speed_hz);
}
// set update rate to motors - a value in hertz
void AP_MotorsHeli_Dual::set_update_rate( uint16_t speed_hz )
{
// record requested speed
_speed_hz = speed_hz;
// setup fast channels
uint16_t mask = 0;
for (uint8_t i=0; i<AP_MOTORS_HELI_DUAL_NUM_SWASHPLATE_SERVOS; i++) {
mask |= 1U << (AP_MOTORS_MOT_1+i);
}
rc_set_freq(mask, _speed_hz);
}
// set update rate to motors - a value in hertz
void AP_MotorsHeli_Single::set_update_rate( uint16_t speed_hz )
{
// record requested speed
_speed_hz = speed_hz;
// setup fast channels
uint32_t mask =
1U << AP_MOTORS_MOT_1 |
1U << AP_MOTORS_MOT_2 |
1U << AP_MOTORS_MOT_3 |
1U << AP_MOTORS_MOT_4;
rc_set_freq(mask, _speed_hz);
}
// set update rate to motors - a value in hertz
void AP_MotorsMatrix::set_update_rate( uint16_t speed_hz )
{
// record requested speed
_speed_hz = speed_hz;
uint16_t mask = 0;
for (uint8_t i=0; i<AP_MOTORS_MAX_NUM_MOTORS; i++) {
if (motor_enabled[i]) {
mask |= 1U << i;
}
}
rc_set_freq(mask, _speed_hz );
}
