AP_Periph: added ESC_PWM_TYPE

this allows for oneshot and dshot on AP_Periph ESCs

Tools/AP_Periph/Parameters.cpp

@@ -142,6 +142,9 @@ const AP_Param::Info AP_Periph_FW::var_info[] = {
     // @Group: OUT
     // @Path: ../libraries/SRV_Channel/SRV_Channels.cpp
     GOBJECT(servo_channels, "OUT",     SRV_Channels),
+
+    // PWM type for ESCs (to allow for DShot and OneShot)
+    GSCALAR(esc_pwm_type, "ESC_PWM_TYPE",     0),
 #endif
 
 #ifdef HAL_PERIPH_ENABLE_MSP

Tools/AP_Periph/Parameters.h

@@ -37,6 +37,7 @@ public:
         k_param_gps_port,
         k_param_msp_port,
         k_param_notify,
+        k_param_esc_pwm_type,
     };
 
     AP_Int16 format_version;
@@ -82,6 +83,10 @@ public:
     AP_Int8 msp_port;
 #endif
 
+#ifdef HAL_PERIPH_ENABLE_RC_OUT
+    AP_Int8 esc_pwm_type;
+#endif
+
     AP_Int8 debug;
 
     AP_Int32 serial_number;

Tools/AP_Periph/rc_out.cpp

@@ -42,10 +42,19 @@ void AP_Periph_FW::rcout_init()
     for (uint8_t i=0; i<SERVO_OUT_RCIN_MAX; i++) {
         SRV_Channels::set_angle(SRV_Channel::Aux_servo_function_t(SRV_Channel::k_rcin1 + i), 1000);
     }
+
+    uint16_t esc_mask = 0;
     for (uint8_t i=0; i<SERVO_OUT_MOTOR_MAX; i++) {
         SRV_Channels::set_angle(SRV_Channels::get_motor_function(i), UAVCAN_ESC_MAX_VALUE);
+        uint8_t chan;
+        if (SRV_Channels::find_channel(SRV_Channels::get_motor_function(i), chan)) {
+            esc_mask |= 1U << chan;
+        }
     }
 
+    // setup ESCs with the desired PWM type, allowing for DShot
+    hal.rcout->set_output_mode(esc_mask, (AP_HAL::RCOutput::output_mode)g.esc_pwm_type.get());
+
     // run this once and at 1Hz to configure aux and esc ranges
     rcout_init_1Hz();
 }