From f00a227b3354c4436c0a429001ca2052e9159ac0 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Mon, 16 May 2022 07:30:16 +1000
Subject: [PATCH] AP_Motors: more changes for 32 bit servo mask

---
 libraries/AP_Motors/AP_MotorsHeli_Dual.cpp | 2 +-
 libraries/AP_Motors/AP_MotorsMatrix.cpp    | 2 +-
 libraries/AP_Motors/AP_Motors_Class.h      | 4 ++--
 3 files changed, 4 insertions(+), 4 deletions(-)

diff --git a/libraries/AP_Motors/AP_MotorsHeli_Dual.cpp b/libraries/AP_Motors/AP_MotorsHeli_Dual.cpp
index 5310e528e2..527fa32270 100644
--- a/libraries/AP_Motors/AP_MotorsHeli_Dual.cpp
+++ b/libraries/AP_Motors/AP_MotorsHeli_Dual.cpp
@@ -215,7 +215,7 @@ void AP_MotorsHeli_Dual::set_update_rate( uint16_t speed_hz )
     _speed_hz = speed_hz;
 
     // setup fast channels
-    uint16_t mask = 0;
+    uint32_t mask = 0;
     for (uint8_t i=0; i<AP_MOTORS_HELI_DUAL_NUM_SWASHPLATE_SERVOS; i++) {
         mask |= 1U << (AP_MOTORS_MOT_1+i);
     }
diff --git a/libraries/AP_Motors/AP_MotorsMatrix.cpp b/libraries/AP_Motors/AP_MotorsMatrix.cpp
index 8de27cd3a7..7d7e04e2ca 100644
--- a/libraries/AP_Motors/AP_MotorsMatrix.cpp
+++ b/libraries/AP_Motors/AP_MotorsMatrix.cpp
@@ -117,7 +117,7 @@ void AP_MotorsMatrix::set_update_rate(uint16_t speed_hz)
     // record requested speed
     _speed_hz = speed_hz;
 
-    uint16_t mask = 0;
+    uint32_t mask = 0;
     for (uint8_t i = 0; i < AP_MOTORS_MAX_NUM_MOTORS; i++) {
         if (motor_enabled[i]) {
             mask |= 1U << i;
diff --git a/libraries/AP_Motors/AP_Motors_Class.h b/libraries/AP_Motors/AP_Motors_Class.h
index 0f0cca18c5..567d93a384 100644
--- a/libraries/AP_Motors/AP_Motors_Class.h
+++ b/libraries/AP_Motors/AP_Motors_Class.h
@@ -309,10 +309,10 @@ protected:
     float               _air_density_ratio;     // air density / sea level density - decreases in altitude
 
     // mask of what channels need fast output
-    uint16_t            _motor_fast_mask;
+    uint32_t            _motor_fast_mask;
 
     // mask of what channels need to use SERVOn_MIN/MAX for output mapping
-    uint16_t            _motor_pwm_range_mask;
+    uint32_t            _motor_pwm_range_mask;
     
     // pass through variables
     float _roll_radio_passthrough;     // roll input from pilot in -1 ~ +1 range.  used for setup and providing servo feedback while landed