From 62fc1b91c4b15e255c61c17493453fd79df8402d Mon Sep 17 00:00:00 2001 From: Andy Piper Date: Mon, 29 May 2023 20:44:47 +0100 Subject: [PATCH] AP_HAL: add dshot commands and ESC types for extended dshot telemetry (EDT) --- libraries/AP_HAL/RCOutput.h | 6 +++++- 1 file changed, 5 insertions(+), 1 deletion(-) diff --git a/libraries/AP_HAL/RCOutput.h b/libraries/AP_HAL/RCOutput.h index a42ab430f4c73..dae1b69444d54 100644 --- a/libraries/AP_HAL/RCOutput.h +++ b/libraries/AP_HAL/RCOutput.h @@ -247,6 +247,8 @@ class AP_HAL::RCOutput { DSHOT_3D_OFF = 9, DSHOT_3D_ON = 10, DSHOT_SAVE = 12, + DSHOT_EXTENDED_TELEMETRY_ENABLE = 13, + DSHOT_EXTENDED_TELEMETRY_DISABLE = 14, DSHOT_NORMAL = 20, DSHOT_REVERSE = 21, // The following options are only available on BLHeli32 @@ -265,7 +267,9 @@ class AP_HAL::RCOutput { enum DshotEscType { DSHOT_ESC_NONE = 0, DSHOT_ESC_BLHELI = 1, - DSHOT_ESC_BLHELI_S = 2 + DSHOT_ESC_BLHELI_S = 2, + DSHOT_ESC_BLHELI_EDT = 3, + DSHOT_ESC_BLHELI_EDT_S = 4 }; virtual void set_output_mode(uint32_t mask, enum output_mode mode) {}