Rover: MOT_PWM_TYPE should be a per channel setting

[gmorph]

Issue details

At the moment setting MOT_PWM_TYPE will change ALL channels to be whatever type is selected. However on Rovers you may have a throttle ESC that requires a changed MOT_PWM_TYPE but a steering servo that doesn't. This is why it should be a per channel setting.

Version

All

Platform

[ ] All [ ] AntennaTracker [ ] Copter [ ] Plane [X] Rover [ ] Submarine

Airframe type

Standard. Probably all really.

Hardware type

Pixhawk

Logs

N/A

[rmackay9]

Maybe we could get away with just setting the "output mode" for channels which have the function set to motor, k_motor1, k_motor2, k_motor3, k_throttleLeft, k_throttleRight or k_throttle.

For anyone interested in implementing this, the change would be made in the APMrover2/AP_MotorsUGV.cpp file's AP_MotorsUGV::setup_pwm_type method. the hal.rcout->set_output_mode takes a mask which controls which channels are affected. so the change would involve creating a mask that has a "1" in each bit corresponding to the channels that have their function set to one of those listed above.

[Naterater]

If I'm not mistaken, this kind of already exists in plane using SERVO_BLH_OTYPE and SERVO_BLH_MASK. The MOT_PWM_TYPE only exists as Q_M_MOT_PWM for planes.

And if I'm thinking logically, the MOT_PWM_TYPE will only apply to channels that are assigned to motor functions, not servos.

[NickNunno]

This would be an excellent feature!

[magicrub]

Jaime will be checking my branch here: https://github.com/magicrub/ardupilot/tree/issue8632_motor_bitmask

[magicrub]

and this PR https://github.com/ArduPilot/ardupilot/pull/8671

[rmackay9]

Resolved in master, thanks!