From 73850f7a06949be3b26552b70c145a49139a3586 Mon Sep 17 00:00:00 2001 From: Randy Mackay Date: Fri, 8 Feb 2019 17:15:37 +0900 Subject: [PATCH] AP_ToshibaCAN: send aborts on error avoids flooding the bus when trying to send to ESCs that are not connected --- libraries/AP_ToshibaCAN/AP_ToshibaCAN.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/libraries/AP_ToshibaCAN/AP_ToshibaCAN.cpp b/libraries/AP_ToshibaCAN/AP_ToshibaCAN.cpp index 2627b2878d..26547771c8 100644 --- a/libraries/AP_ToshibaCAN/AP_ToshibaCAN.cpp +++ b/libraries/AP_ToshibaCAN/AP_ToshibaCAN.cpp @@ -243,7 +243,7 @@ bool AP_ToshibaCAN::write_frame(uavcan::CanFrame &out_frame, uavcan::MonotonicTi } while (!inout_mask.write); // send frame and return success - return (_can_driver->getIface(CAN_IFACE_INDEX)->send(out_frame, timeout, 0) == 1); + return (_can_driver->getIface(CAN_IFACE_INDEX)->send(out_frame, timeout, uavcan::CanIOFlagAbortOnError) == 1); } // called from SRV_Channels