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AP_Motors: fixed motor knocking issue on tilt quadplanes #29518

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tridge wants to merge 2 commits into from
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AP_Motors: fixed motor knocking issue on tilt quadplanes #29518

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53240c3
AP_Motors: fixed motor knocking issue on tilt quadplanes
tridge Mar 13, 2025
1572f92
AP_Motors: Tri: apply knocking fix to tricopters
IamPete1 Mar 13, 2025
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2 changes: 1 addition & 1 deletion libraries/AP_Motors/AP_MotorsMatrix.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -176,7 +176,7 @@ void AP_MotorsMatrix::output_to_motors()

// convert output to PWM and send to each motor
for (i = 0; i < AP_MOTORS_MAX_NUM_MOTORS; i++) {
if (motor_enabled[i]) {
if (motor_enabled_mask(i)) {
rc_write(i, output_to_pwm(_actuator[i]));
}
}
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12 changes: 9 additions & 3 deletions libraries/AP_Motors/AP_MotorsTri.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -109,9 +109,15 @@ void AP_MotorsTri::output_to_motors()
break;
}

rc_write(AP_MOTORS_MOT_1, output_to_pwm(_actuator[AP_MOTORS_MOT_1]));
rc_write(AP_MOTORS_MOT_2, output_to_pwm(_actuator[AP_MOTORS_MOT_2]));
rc_write(AP_MOTORS_MOT_4, output_to_pwm(_actuator[AP_MOTORS_MOT_4]));
if (motor_enabled_mask(AP_MOTORS_MOT_1)) {
rc_write(AP_MOTORS_MOT_1, output_to_pwm(_actuator[AP_MOTORS_MOT_1]));
}
if (motor_enabled_mask(AP_MOTORS_MOT_2)) {
rc_write(AP_MOTORS_MOT_2, output_to_pwm(_actuator[AP_MOTORS_MOT_2]));
}
if (motor_enabled_mask(AP_MOTORS_MOT_4)) {
rc_write(AP_MOTORS_MOT_4, output_to_pwm(_actuator[AP_MOTORS_MOT_4]));
}
}

// get_motor_mask - returns a bitmask of which outputs are being used for motors or servos (1 means being used)
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