From 713745ed28d7a32c65b691c80f201ae9f413f075 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Fri, 17 Nov 2023 06:49:24 +1100
Subject: [PATCH] AP_DroneCAN: 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_DroneCAN/AP_DroneCAN.cpp | 5 +++++
 1 file changed, 5 insertions(+)

diff --git a/libraries/AP_DroneCAN/AP_DroneCAN.cpp b/libraries/AP_DroneCAN/AP_DroneCAN.cpp
index c980c413cc..7853319cc8 100644
--- a/libraries/AP_DroneCAN/AP_DroneCAN.cpp
+++ b/libraries/AP_DroneCAN/AP_DroneCAN.cpp
@@ -427,6 +427,11 @@ void AP_DroneCAN::loop(void)
 #if AP_DRONECAN_HOBBYWING_ESC_SUPPORT
 void AP_DroneCAN::hobbywing_ESC_update(void)
 {
+    if (hal.util->get_soft_armed()) {
+        // don't update ID database while disarmed, as it can cause
+        // some hobbywing ESCs to stutter
+        return;
+    }
     uint32_t now = AP_HAL::millis();
     if (now - hobbywing.last_GetId_send_ms >= 1000U) {
         hobbywing.last_GetId_send_ms = now;