HAL_VRBRAIN: fixed build with DShot

7 years ago · 3c5c77889c
1 changed files with 7 additions and 0 deletions
--- a/libraries/AP_HAL_VRBRAIN/RCOutput.cpp
+++ b/libraries/AP_HAL_VRBRAIN/RCOutput.cpp
@ -667,6 +667,13 @@ void VRBRAINRCOutput::set_output_mode(uint16_t mask, enum output_mode mode)
				@@ -667,6 +667,13 @@ void VRBRAINRCOutput::set_output_mode(uint16_t mask, enum output_mode mode)
            ioctl(_alt_fd, PWM_SERVO_SET_ONESHOT, 1);
        }
        break;
+    case MODE_PWM_DSHOT150:
+    case MODE_PWM_DSHOT300:
+    case MODE_PWM_DSHOT600:
+    case MODE_PWM_DSHOT1200:
+        // treat as normal PWM for now
+        hal.console->printf("DShot not supported\n");
+        FALLTHROUGH;
    case MODE_PWM_NORMAL:
        ioctl(_pwm_fd, PWM_SERVO_SET_ONESHOT, 0);
        if (_alt_fd != -1) {