Mirror
/
ardupilot
mirror of https://github.com/ArduPilot/ardupilot
5
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity

AP_BLHeli: if there are no digital outputs disable telemetry

This commit is contained in:
Andy Piper 2021-05-15 09:48:14 +01:00 committed by Andrew Tridgell
parent dd42e45079
commit 4929caa241
1 changed files with 5 additions and 1 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

6
libraries/AP_BLHeli/AP_BLHeli.cpp
View File

@ -1492,6 +1492,10 @@ void AP_BLHeli::log_bidir_telemetry(void)
}
}
if (!SRV_Channels::have_digital_outputs()) {
return;
}
// ask the next ESC for telemetry
uint8_t idx_pos = last_telem_esc;
for (uint8_t idx = (idx_pos + 1) % num_motors;
@ -1517,7 +1521,7 @@ void AP_BLHeli::update_telemetry(void)
log_bidir_telemetry();
}
#endif
if (!telem_uart) {
if (!telem_uart || !SRV_Channels::have_digital_outputs()) {
return;
}
uint32_t now = AP_HAL::micros();