AP_BLHeli: more changes for 32 bit servo mask

libraries/AP_BLHeli/AP_BLHeli.cpp

@@ -1377,7 +1377,7 @@ void AP_BLHeli::init(void)
     AP_Motors *motors = AP::motors();
 #endif
     if (motors) {
-        uint16_t motormask = motors->get_motor_mask();
+        uint32_t motormask = motors->get_motor_mask();
         // set the rest of the digital channels
         if (motors->is_digital_pwm_type()) {
             digital_mask |= motormask;
@@ -1580,7 +1580,7 @@ void AP_BLHeli::update_telemetry(void)
                 break;
             }
         }
-        uint16_t mask = 1U << motor_map[idx];
+        uint32_t mask = 1U << motor_map[idx];
         if (SRV_Channels::have_digital_outputs(mask)) {
             hal.rcout->set_telem_request_mask(mask);
             last_telem_esc = idx;

libraries/AP_BLHeli/AP_BLHeli.h

@@ -53,7 +53,7 @@ public:
         return channel_bidir_dshot_mask.get() & (1U << motor_map[esc_index]);
     }
 
-    uint16_t get_bidir_dshot_mask() const { return channel_bidir_dshot_mask.get(); }
+    uint32_t get_bidir_dshot_mask() const { return channel_bidir_dshot_mask.get(); }
 
     static AP_BLHeli *get_singleton(void) {
         return _singleton;
@@ -232,7 +232,7 @@ private:
     // have we disabled motor outputs?
     bool motors_disabled;
     // mask of channels that should normally be disabled
-    uint16_t motors_disabled_mask;
+    uint32_t motors_disabled_mask;
 
     // have we locked the UART?
     bool uart_locked;