From 4cdc58ce8da43d2b193719982be091929267b4d0 Mon Sep 17 00:00:00 2001 From: Claudio Micheli Date: Mon, 6 Apr 2020 14:16:44 +0200 Subject: [PATCH] EscBattery: only publish data if all the ESCs are online Signed-off-by: Claudio Micheli --- src/modules/esc_battery/EscBattery.cpp | 4 +++- 1 file changed, 3 insertions(+), 1 deletion(-) diff --git a/src/modules/esc_battery/EscBattery.cpp b/src/modules/esc_battery/EscBattery.cpp index 449f09536e..71a7199780 100644 --- a/src/modules/esc_battery/EscBattery.cpp +++ b/src/modules/esc_battery/EscBattery.cpp @@ -80,7 +80,9 @@ EscBattery::Run() if (_esc_status_sub.copy(&esc_status)) { - if (esc_status.esc_count == 0 || + int online_bitmask = (1 << esc_status.esc_count) - 1; + + if (online_bitmask != esc_status.esc_online_flags || esc_status.esc_count == 0 || esc_status.esc_count > esc_status_s::CONNECTED_ESC_MAX) { return; }