From 7edc6062967bafeef41fb9bfb35d2c961259ee9a Mon Sep 17 00:00:00 2001
From: Jacob Dahl <dahl.jakejacob@gmail.com>
Date: Thu, 15 Jan 2026 13:51:22 -0900
Subject: [PATCH] don't use DSHOT_TEL_CFG directly in code since it is
 autogenerated only if a board has serial config

---
 src/drivers/dshot/DShot.cpp | 9 +++------
 src/drivers/dshot/DShot.h   | 3 +--
 2 files changed, 4 insertions(+), 8 deletions(-)

diff --git a/src/drivers/dshot/DShot.cpp b/src/drivers/dshot/DShot.cpp
index 72edca059e..5e85e9a8ff 100644
--- a/src/drivers/dshot/DShot.cpp
+++ b/src/drivers/dshot/DShot.cpp
@@ -71,7 +71,6 @@ int DShot::init()
 {
 	update_params();
 
-	_serial_telemetry_enabled = _param_dshot_tel_cfg.get();
 	_bdshot_edt_enabled = _param_dshot_bidir_edt.get();
 
 	if (initialize_dshot()) {
@@ -1001,16 +1000,14 @@ void DShot::init_telemetry(const char *device, bool swap_rxtx)
 		return;
 	}
 
-	if (!_serial_telemetry_enabled) {
-		PX4_ERR("serial telemetry not enabled");
-		return;
-	}
-
 	if (_telemetry.init(device, swap_rxtx) != PX4_OK) {
 		PX4_ERR("telemetry init failed");
 		return;
 	}
 
+	// Enable serial telemetry now that we've successfully initialized
+	_serial_telemetry_enabled = true;
+
 	// Initialize ESC settings handlers based on ESC type
 	ESCType esc_type = static_cast<ESCType>(_param_dshot_esc_type.get());
 	_telemetry.initSettingsHandlers(esc_type, _output_mask);
diff --git a/src/drivers/dshot/DShot.h b/src/drivers/dshot/DShot.h
index c3e6092f02..540d839d64 100644
--- a/src/drivers/dshot/DShot.h
+++ b/src/drivers/dshot/DShot.h
@@ -231,7 +231,6 @@ private:
 		(ParamInt<px4::params::DSHOT_3D_DEAD_H>) _param_dshot_3d_dead_h,
 		(ParamInt<px4::params::DSHOT_3D_DEAD_L>) _param_dshot_3d_dead_l,
 		(ParamInt<px4::params::MOT_POLE_COUNT>) _param_mot_pole_count,
-		(ParamBool<px4::params::DSHOT_BIDIR_EDT>) _param_dshot_bidir_edt,
-		(ParamBool<px4::params::DSHOT_TEL_CFG>) _param_dshot_tel_cfg
+		(ParamBool<px4::params::DSHOT_BIDIR_EDT>) _param_dshot_bidir_edt
 	)
 };