AP_HAL_ChibiOS: add support for SIM_OH_MASK (sim-on-hardware output enable mask

3 years ago · 2913c8d9e9
1 changed files with 3 additions and 1 deletions
--- a/libraries/AP_HAL_ChibiOS/RCOutput.cpp
+++ b/libraries/AP_HAL_ChibiOS/RCOutput.cpp
@ -569,7 +569,9 @@ void RCOutput::write(uint8_t chan, uint16_t period_us)
				@@ -569,7 +569,9 @@ void RCOutput::write(uint8_t chan, uint16_t period_us)

 #if AP_SIM_ENABLED
    hal.simstate->pwm_output[chan] = period_us;
-    return;
+    if (!(AP::sitl()->on_hardware_output_enable_mask & (1U<<chan))) {
+        return;
+    }
 #endif

 #if HAL_WITH_IO_MCU