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AP_BLHeli: ensure correct rotation through telemetry ESCs

This commit is contained in:
Andy Piper 2021-07-15 19:21:54 +01:00 committed by Randy Mackay
parent 3cee86e63f
commit 74a8891099
1 changed files with 2 additions and 2 deletions
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4
libraries/AP_BLHeli/AP_BLHeli.cpp
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@ -1494,7 +1494,7 @@ void AP_BLHeli::log_bidir_telemetry(void)
// ask the next ESC for telemetry // ask the next ESC for telemetry
uint8_t idx_pos = last_telem_esc; uint8_t idx_pos = last_telem_esc;
uint8_t idx = (idx_pos + 1) % num_motors; uint8_t idx = (idx_pos + 1) % num_motors;
for (; idx != idx_pos; idx = (idx_pos + 1) % num_motors) { for (; idx != idx_pos; idx = (idx + 1) % num_motors) {
if (SRV_Channels::have_digital_outputs(1U << motor_map[idx])) { if (SRV_Channels::have_digital_outputs(1U << motor_map[idx])) {
break; break;
} }
@ -1563,7 +1563,7 @@ void AP_BLHeli::update_telemetry(void)
// ask the next ESC for telemetry // ask the next ESC for telemetry
uint8_t idx_pos = last_telem_esc; uint8_t idx_pos = last_telem_esc;
uint8_t idx = (idx_pos + 1) % num_motors; uint8_t idx = (idx_pos + 1) % num_motors;
for (; idx != idx_pos; idx = (idx_pos + 1) % num_motors) { for (; idx != idx_pos; idx = (idx + 1) % num_motors) {
if (SRV_Channels::have_digital_outputs(1U << motor_map[idx])) { if (SRV_Channels::have_digital_outputs(1U << motor_map[idx])) {
break; break;
} }