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AP_BLHeli: use native motor numbering

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This commit is contained in:
Andy Piper 2025-01-09 18:25:59 +00:00 committed by Andrew Tridgell
parent 417a8a5147
commit 7bfb135822
1 changed files with 2 additions and 9 deletions
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11
libraries/AP_BLHeli/AP_BLHeli.cpp
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@ -1466,14 +1466,7 @@ void AP_BLHeli::read_telemetry_packet(void)
const uint8_t motor_idx = motor_map[last_telem_esc];
// we have received valid data, mark the ESC as now active
hal.rcout->set_active_escs_mask(1<<motor_idx);
uint8_t normalized_motor_idx = motor_idx - chan_offset;
#if HAL_WITH_IO_MCU
if (AP_BoardConfig::io_enabled()) {
normalized_motor_idx = motor_idx;
}
#endif
update_rpm(normalized_motor_idx, new_rpm);
update_rpm(motor_idx, new_rpm);
TelemetryData t {
.temperature_cdeg = int16_t(buf[0] * 100),
@ -1482,7 +1475,7 @@ void AP_BLHeli::read_telemetry_packet(void)
.consumption_mah = float(uint16_t((buf[5]<<8) | buf[6])),
};
update_telem_data(normalized_motor_idx, t,
update_telem_data(motor_idx, t,
AP_ESC_Telem_Backend::TelemetryType::CURRENT
| AP_ESC_Telem_Backend::TelemetryType::VOLTAGE
| AP_ESC_Telem_Backend::TelemetryType::CONSUMPTION