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AP_DroneCAN: don't update hobbywing ESC table while armed

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some hobbywing ESCs have a bug where requesting the ID table can cause
the ESC to stutter
This commit is contained in:
Andrew Tridgell 2023-11-17 06:49:24 +11:00
parent d625a1b13b
commit 713745ed28
1 changed files with 5 additions and 0 deletions
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5
libraries/AP_DroneCAN/AP_DroneCAN.cpp
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@ -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;