From 3a433cd71ea3a107c4050ff63f363346529b6b0b Mon Sep 17 00:00:00 2001 From: Jacob Walser Date: Tue, 23 Mar 2021 21:01:34 -0400 Subject: [PATCH] AP_HAL: update pwm hardware for navigator r3 --- libraries/AP_HAL_Linux/HAL_Linux_Class.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/libraries/AP_HAL_Linux/HAL_Linux_Class.cpp b/libraries/AP_HAL_Linux/HAL_Linux_Class.cpp index f7cb624176..adf2b28f68 100644 --- a/libraries/AP_HAL_Linux/HAL_Linux_Class.cpp +++ b/libraries/AP_HAL_Linux/HAL_Linux_Class.cpp @@ -193,7 +193,7 @@ static RCOutput_PCA9685 rcoutDriver(i2c_mgr_instance.get_device(1, PCA9685_QUATE #elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_DARK static RCOutput_PCA9685 rcoutDriver(i2c_mgr_instance.get_device(1, PCA9685_QUINARY_ADDRESS), 0, 0, RPI_GPIO_<27>()); #elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_NAVIGATOR -static RCOutput_PCA9685 rcoutDriver(i2c_mgr_instance.get_device(1, PCA9685_PRIMARY_ADDRESS), 0, 0, RPI_GPIO_<27>()); +static RCOutput_PCA9685 rcoutDriver(i2c_mgr_instance.get_device(4, PCA9685_PRIMARY_ADDRESS), 24576000, 0, RPI_GPIO_<26>()); #elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_ZYNQ || \ CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_OCPOC_ZYNQ static RCOutput_ZYNQ rcoutDriver;