From a1fda8bc762218b859739e47b9b6313af90a1ca4 Mon Sep 17 00:00:00 2001 From: Michael du Breuil Date: Wed, 22 May 2019 17:09:41 -0700 Subject: [PATCH] AP_BLHeli: Update to support newer targets and protocols --- libraries/AP_BLHeli/AP_BLHeli.cpp | 4 +++- libraries/AP_BLHeli/blheli_4way_protocol.h | 2 +- 2 files changed, 4 insertions(+), 2 deletions(-) diff --git a/libraries/AP_BLHeli/AP_BLHeli.cpp b/libraries/AP_BLHeli/AP_BLHeli.cpp index c5a0a83f49..c103d5909f 100644 --- a/libraries/AP_BLHeli/AP_BLHeli.cpp +++ b/libraries/AP_BLHeli/AP_BLHeli.cpp @@ -700,6 +700,8 @@ bool AP_BLHeli::BL_ConnectEx(void) case 0x3306: case 0x3406: case 0x3506: + case 0x2B06: + case 0x4706: blheli.interface_mode[blheli.chan] = imARM_BLB; debug("Interface type imARM_BLB"); break; @@ -734,7 +736,7 @@ bool AP_BLHeli::BL_PageErase(void) if (!BL_SendBuf(sCMD, 2)) { return false; } - return BL_GetACK(1000) == brSUCCESS; + return BL_GetACK(3000) == brSUCCESS; } return false; } diff --git a/libraries/AP_BLHeli/blheli_4way_protocol.h b/libraries/AP_BLHeli/blheli_4way_protocol.h index 08a6f6018b..bfb9250bb3 100644 --- a/libraries/AP_BLHeli/blheli_4way_protocol.h +++ b/libraries/AP_BLHeli/blheli_4way_protocol.h @@ -118,7 +118,7 @@ */ #define SERIAL_4WAY_VER_MAIN 20 #define SERIAL_4WAY_VER_SUB_1 (uint8_t) 0 -#define SERIAL_4WAY_VER_SUB_2 (uint8_t) 02 +#define SERIAL_4WAY_VER_SUB_2 (uint8_t) 03 #define SERIAL_4WAY_PROTOCOL_VER 107 // *** end