uavcan escs: Modified esc_status reporting to have _rotor_count published.

Signed-off-by: Claudio Micheli <claudio@auterion.com>

src/drivers/uavcan/uavcan_main.cpp

@@ -919,6 +919,7 @@ int UavcanNode::run()
 
 				new_output = true;
 			}
+
 		}
 
 		if (new_output) {
@@ -993,6 +994,7 @@ int UavcanNode::run()
 				_esc_controller.enable_idle_throttle_when_armed(_idle_throttle_when_armed > 0);
 			}
 		}
+
 	}
 
 	orb_unsubscribe(params_sub);
@@ -1123,6 +1125,11 @@ UavcanNode::ioctl(file *filp, int cmd, unsigned long arg)
 				} else {
 
 					_mixers->groups_required(_groups_required);
+					printf("Groups required %d \n", _groups_required);
+
+					_rotor_count = _mixers->get_multirotor_count();
+					_esc_controller.set_rotor_count(_rotor_count);
+					printf("Number of rotors %d \n", _rotor_count);
 				}
 			}
 		}