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AP_HAL_ChibiOS: check command queue is empty before arming

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Andy Piper 2021-05-03 17:53:19 +01:00 committed by Andrew Tridgell
parent 66fadf53a1
commit 384ecd4a5b
1 changed files with 4 additions and 0 deletions
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4
libraries/AP_HAL_ChibiOS/RCOutput.cpp
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@ -485,7 +485,11 @@ bool RCOutput::prepare_for_arming()
// force all the ESCs to be active, in the future consider returning false // force all the ESCs to be active, in the future consider returning false
// if ESCs are not active that we require // if ESCs are not active that we require
_active_escs_mask = (en_mask << chan_offset); _active_escs_mask = (en_mask << chan_offset);
#ifdef DISABLE_DSHOT
return true; return true;
#else
return _dshot_command_queue.is_empty();
#endif
} }
void RCOutput::write(uint8_t chan, uint16_t period_us) void RCOutput::write(uint8_t chan, uint16_t period_us)