From 6230f72ce7fd0add27b32c4da66f1b704d4a5c5b Mon Sep 17 00:00:00 2001
From: JacobCrabill <jacob@flyvoly.com>
Date: Tue, 22 Mar 2022 09:23:53 -0700
Subject: [PATCH] uavcan_v1: Fix UavcanEscController / MixingOutput

+ Fix bug: lack of use of CONFIG_UAVCAN_V1_ESC_CONTROLLER
+ Properly initialize _esc_controller and _mixing_output
---
 src/drivers/uavcan_v1/Uavcan.cpp | 10 ++++++++++
 1 file changed, 10 insertions(+)

diff --git a/src/drivers/uavcan_v1/Uavcan.cpp b/src/drivers/uavcan_v1/Uavcan.cpp
index 35ae20f888..f6e73bd9e7 100644
--- a/src/drivers/uavcan_v1/Uavcan.cpp
+++ b/src/drivers/uavcan_v1/Uavcan.cpp
@@ -116,6 +116,12 @@ UavcanNode::UavcanNode(CanardInterface *interface, uint32_t node_id) :
 	_pub_manager.updateParams();
 
 	_sub_manager.subscribe();
+
+#if CONFIG_UAVCAN_V1_ESC_CONTROLLER
+	_esc_controller.updateParam();
+	_mixing_output.updateParams();
+	_mixing_output.mixingOutput().updateSubscriptions(true, false);
+#endif
 }
 
 UavcanNode::~UavcanNode()
@@ -216,7 +222,9 @@ void UavcanNode::Run()
 		_pub_manager.updateParams();
 		_sub_manager.updateParams();
 
+#if CONFIG_UAVCAN_V1_ESC_CONTROLLER
 		_mixing_output.updateParams();
+#endif
 	}
 
 	perf_begin(_cycle_perf);
@@ -406,7 +414,9 @@ void UavcanNode::print_info()
 		rxs = rxs->next;
 	}
 
+#if CONFIG_UAVCAN_V1_ESC_CONTROLLER
 	_mixing_output.printInfo();
+#endif
 
 	pthread_mutex_unlock(&_node_mutex);
 }