AP_Motors: support MODE_PWM_BRUSHED16KHZ

libraries/AP_Motors/AP_MotorsMulticopter.cpp

@@ -82,8 +82,8 @@ const AP_Param::GroupInfo AP_MotorsMulticopter::var_info[] = {
 
     // @Param: PWM_TYPE
     // @DisplayName: Output PWM type
-    // @Description: This selects the output PWM type, allowing for normal PWM continuous output or OneShot125
-    // @Values: 0:Normal,1:OneShot,2:OneShot125
+    // @Description: This selects the output PWM type, allowing for normal PWM continuous output, OneShot or brushed motor output
+    // @Values: 0:Normal,1:OneShot,2:OneShot125,3:Brushed16kHz
     // @User: Advanced
     AP_GROUPINFO("PWM_TYPE", 15, AP_MotorsMulticopter, _pwm_type, PWM_TYPE_NORMAL),
 

libraries/AP_Motors/AP_Motors_Class.cpp

@@ -118,6 +118,8 @@ void AP_Motors::rc_set_freq(uint32_t mask, uint16_t freq_hz)
         mask != 0) {
         // tell HAL to do immediate output
         hal.rcout->set_output_mode(AP_HAL::RCOutput::MODE_PWM_ONESHOT);
+    } else if (_pwm_type == PWM_TYPE_BRUSHED16kHz) {
+        hal.rcout->set_output_mode(AP_HAL::RCOutput::MODE_PWM_BRUSHED16KHZ);
     }
 }
 

libraries/AP_Motors/AP_Motors_Class.h

@@ -134,7 +134,7 @@ public:
     // set loop rate. Used to support loop rate as a parameter
     void                set_loop_rate(uint16_t loop_rate) { _loop_rate = loop_rate; }
 
-    enum pwm_type { PWM_TYPE_NORMAL=0, PWM_TYPE_ONESHOT=1, PWM_TYPE_ONESHOT125=2 };
+    enum pwm_type { PWM_TYPE_NORMAL=0, PWM_TYPE_ONESHOT=1, PWM_TYPE_ONESHOT125=2, PWM_TYPE_BRUSHED16kHz=3 };
     pwm_type            get_pwm_type(void) const { return (pwm_type)_pwm_type.get(); }
     
 protected: