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fix(dshot): map MAVLink standard ACTUATOR_OUTPUT_FUNCTION to PX4 OutputFunction (#26909)

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The MAVLink standard defines ACTUATOR_OUTPUT_FUNCTION_MOTOR1=1..MOTOR16=16,
but PX4 internally uses OutputFunction::Motor1=101..Motor12=112. The DShot
driver only handled PX4 internal values (101+) and QGC legacy values (1101+),
so any standards-compliant GCS sending the MAVLink enum values would get
VEHICLE_CMD_RESULT_UNSUPPORTED back from MAV_CMD_CONFIGURE_ACTUATOR.

Add a mapping from MAVLink standard values (1-16) to PX4 internal values
(101-116) by adding 100, matching the existing QGC backwards-compat pattern.
This commit is contained in:
Jacob Dahl 2026-03-31 08:52:25 -08:00 committed by GitHub
parent 1d81ecb08d
commit d5d2ce26d7
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src/drivers/dshot/DShot.cpp
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@ -785,6 +785,11 @@ void DShot::handle_configure_actuator(const vehicle_command_s &command)
if (function > 1000) {
// NOTE: backwards compatibility for QGC - 1101=Motor1, 1102=Motor2, etc
function -= 1000;
} else if (function >= 1 && function <= 16) {
// MAVLink standard: ACTUATOR_OUTPUT_FUNCTION_MOTOR1=1 .. MOTOR16=16
// PX4 internal: OutputFunction::Motor1=101 .. Motor12=112
function += 100;
}
int motor_index = -1;