From 610b7135bd5912a63f2ecdce21995d6c5b701df2 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Tue, 5 Dec 2023 14:10:05 +1100
Subject: [PATCH] AP_UAVCAN: don't update hobbywing ESC table while armed

some hobbywing ESCs have a bug where requesting the ID table can cause
the ESC to stutter
---
 libraries/AP_UAVCAN/AP_UAVCAN.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/libraries/AP_UAVCAN/AP_UAVCAN.cpp b/libraries/AP_UAVCAN/AP_UAVCAN.cpp
index 81c2122a7d..abf8d95a52 100644
--- a/libraries/AP_UAVCAN/AP_UAVCAN.cpp
+++ b/libraries/AP_UAVCAN/AP_UAVCAN.cpp
@@ -1713,7 +1713,7 @@ void AP_UAVCAN::logging(void)
  */
 void AP_UAVCAN::hobbywing_ESC_update(void)
 {
-    if (!hobbywing.enabled) {
+    if (!hobbywing.enabled || hal.util->get_soft_armed()) {
         return;
     }
     uint32_t now = AP_HAL::millis();