AP_Blheli: allow connection with mixed reversible and normal

libraries/AP_BLHeli/AP_BLHeli.cpp

@@ -407,7 +407,8 @@ void AP_BLHeli::msp_process_command(void)
         // get the output going to each motor
         uint8_t buf[16] {};
         for (uint8_t i = 0; i < num_motors; i++) {
-            uint16_t v = hal.rcout->read(motor_map[i]);
+            // if we have a mix of reversible and normal report a PWM of zero, this allows BLHeliSuite to conect
+            uint16_t v = mixed_type ? 0 : hal.rcout->read(motor_map[i]);
             putU16(&buf[2*i], v);
             debug("MOTOR %u val: %u",i,v);
         }
@@ -417,6 +418,7 @@ void AP_BLHeli::msp_process_command(void)
 
     case MSP_SET_MOTOR: {
         debug("MSP_SET_MOTOR");
+        if (!mixed_type) {
             // set the output to each motor
             uint8_t nmotors = msp.dataSize / 2;
             debug("MSP_SET_MOTOR %u", nmotors);
@@ -435,6 +437,9 @@ void AP_BLHeli::msp_process_command(void)
                 hal.rcout->write(motor_map[i], pwm);
             }
             hal.rcout->push();
+        } else {
+            debug("mixed type, Motors Disabled");
+        }
         break;
     }
 
@@ -1280,6 +1285,9 @@ void AP_BLHeli::update(void)
     motor_mask = mask;
     debug("ESC: %u motors mask=0x%04x", num_motors, mask);
 
+    // check if we have a combination of reversable and normal
+    mixed_type = (mask != (mask & channel_reversible_mask.get())) && (channel_reversible_mask.get() != 0);
+
     if (num_motors != 0 && telem_rate > 0) {
         AP_SerialManager *serial_manager = AP_SerialManager::get_singleton();
         if (serial_manager) {

libraries/AP_BLHeli/AP_BLHeli.h

@@ -239,6 +239,9 @@ private:
     // have we locked the UART?
     bool uart_locked;
 
+    // true if we have a mix of reversable and normal ESC
+    bool mixed_type;
+
     // mapping from BLHeli motor numbers to RC output channels
     uint8_t motor_map[max_motors];
     uint16_t motor_mask;