AP_HAL_AVR: RCOutput_APM2, bugfix to get_freq on CH_10 and CH_11

13 years ago · ad64fd2924
1 changed files with 3 additions and 1 deletions
--- a/libraries/AP_HAL_AVR/RCOutput_APM2.cpp
+++ b/libraries/AP_HAL_AVR/RCOutput_APM2.cpp
@ -91,9 +91,11 @@ uint16_t APM2RCOutput::get_freq(uint8_t ch) {
				@@ -91,9 +91,11 @@ uint16_t APM2RCOutput::get_freq(uint8_t ch) {
        case CH_8:
            icr = ICR3;
            break;
+        /* CH_10 and CH_11 share TIMER5 with input capture.
+         * The period is specified in OCR5A rater than the ICR. */
        case CH_10:
        case CH_11:
-            icr = ICR5;
+            icr = OCR5A;
            break;
        default:
            return 0;