From 186c28c275b2a6921a7fb74be3cea8b8b742b602 Mon Sep 17 00:00:00 2001 From: Andy Piper Date: Fri, 8 Jan 2021 21:37:22 +0000 Subject: [PATCH] AP_BLHeli: correct bi-dir mask enablement --- libraries/AP_BLHeli/AP_BLHeli.h | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/libraries/AP_BLHeli/AP_BLHeli.h b/libraries/AP_BLHeli/AP_BLHeli.h index cce9682ee8..48d65c30f1 100644 --- a/libraries/AP_BLHeli/AP_BLHeli.h +++ b/libraries/AP_BLHeli/AP_BLHeli.h @@ -71,7 +71,7 @@ public: } bool has_bidir_dshot(uint8_t esc_index) const { - return channel_bidir_dshot_mask.get() & (1 << esc_index); + return channel_bidir_dshot_mask.get() & (1U << motor_map[esc_index]); } uint16_t get_bidir_dshot_mask() const { return channel_bidir_dshot_mask.get(); }