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tap_esc: enable closed loop control if supported by board

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This commit is contained in:
Lucas De Marchi
2017-03-02 13:26:13 -08:00
committed by Lorenz Meier
parent 173001e73a
commit 6b8c0f7db2
1 changed files with 6 additions and 0 deletions
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6
src/drivers/tap_esc/tap_esc.cpp
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@@ -72,6 +72,10 @@
# define BOARD_TAP_ESC_NO_VERIFY_CONFIG 0
#endif
#if !defined(BOARD_TAP_ESC_MODE)
# define BOARD_TAP_ESC_MODE 0
#endif
/*
* This driver connects to TAP ESCs via serial.
*/
@@ -252,6 +256,8 @@ TAP_ESC::init()
ConfigInfoBasicRequest &config = packet.d.reqConfigInfoBasic;
memset(&config, 0, sizeof(ConfigInfoBasicRequest));
config.maxChannelInUse = _channels_count;
/* Enable closed-loop control if supported by the board */
config.controlMode = BOARD_TAP_ESC_MODE;
/* Asign the id's to the ESCs to match the mux */