fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-04-14 10:07:39 +08:00
Code Issues Packages Projects Releases Wiki Activity

dshot telemetry: enable telemetry publishing for setups with only one ESC

Browse Source
This commit is contained in:
Nicolas de Palezieux 2019-10-17 10:33:18 +02:00 committed by Beat Küng
parent 6ccb4af8b0
commit 40bb209fd2
1 changed files with 1 additions and 1 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

2
src/drivers/dshot/dshot.cpp
View File

@ -598,7 +598,7 @@ void DShotOutput::handleNewTelemetryData(int motor_index, const DShotTelemetry::
}
// publish when motor index wraps (which is robust against motor timeouts)
if (motor_index < _telemetry->last_motor_index) {
if (motor_index <= _telemetry->last_motor_index) {
esc_status.timestamp = hrt_absolute_time();
esc_status.esc_connectiontype = esc_status_s::ESC_CONNECTION_TYPE_DSHOT;
esc_status.esc_count = _telemetry->handler.numMotors();