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AP_BLHeli: make sure telemetry is requested when there is only one motor

This commit is contained in:
Andy Piper 2021-05-24 15:44:29 +01:00 committed by Andrew Tridgell
parent f8495df0af
commit 235c8a2d0c
1 changed files with 15 additions and 14 deletions
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29
libraries/AP_BLHeli/AP_BLHeli.cpp
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@ -1505,15 +1505,15 @@ void AP_BLHeli::log_bidir_telemetry(void)
// ask the next ESC for telemetry
uint8_t idx_pos = last_telem_esc;
for (uint8_t idx = (idx_pos + 1) % num_motors;
idx != idx_pos;
idx = (idx_pos + 1) % num_motors) {
uint16_t mask = 1U << motor_map[idx];
if (SRV_Channels::have_digital_outputs(mask)) {
last_telem_esc = idx;
uint8_t idx = (idx_pos + 1) % num_motors;
for (; idx != idx_pos; idx = (idx_pos + 1) % num_motors) {
if (SRV_Channels::have_digital_outputs(1U << motor_map[idx])) {
break;
}
}
if (SRV_Channels::have_digital_outputs(1U << motor_map[idx])) {
last_telem_esc = idx;
}
}
/*
@ -1574,17 +1574,18 @@ void AP_BLHeli::update_telemetry(void)
if (now - last_telem_request_us >= telem_rate_us) {
// ask the next ESC for telemetry
uint8_t idx_pos = last_telem_esc;
for (uint8_t idx = (idx_pos + 1) % num_motors;
idx != idx_pos;
idx = (idx_pos + 1) % num_motors) {
uint16_t mask = 1U << motor_map[idx];
if (SRV_Channels::have_digital_outputs(mask)) {
hal.rcout->set_telem_request_mask(mask);
last_telem_esc = idx;
last_telem_request_us = now;
uint8_t idx = (idx_pos + 1) % num_motors;
for (; idx != idx_pos; idx = (idx_pos + 1) % num_motors) {
if (SRV_Channels::have_digital_outputs(1U << motor_map[idx])) {
break;
}
}
uint16_t mask = 1U << motor_map[idx];
if (SRV_Channels::have_digital_outputs(mask)) {
hal.rcout->set_telem_request_mask(mask);
last_telem_esc = idx;
last_telem_request_us = now;
}
}
}