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AP_HAL_ChibiOS: fix compilation when HAL_WITH_ESC_TELEM == 0

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Dr.-Ing. Amilcar do Carmo Lucas 2021-04-17 20:04:57 +02:00 committed by Peter Barker
parent 2d5ac0009a
commit 8593672f4c
1 changed files with 2 additions and 2 deletions
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4
libraries/AP_HAL_ChibiOS/RCOutput.cpp
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@ -1356,12 +1356,12 @@ void RCOutput::dshot_send(pwm_group &group, uint32_t time_out_us)
#ifdef HAL_WITH_BIDIR_DSHOT #ifdef HAL_WITH_BIDIR_DSHOT
// retrieve the last erpm values // retrieve the last erpm values
const uint16_t erpm = group.bdshot.erpm[i]; const uint16_t erpm = group.bdshot.erpm[i];
#if HAL_WITH_ESC_TELEM
// update the ESC telemetry data // update the ESC telemetry data
if (erpm < 0xFFFF && group.bdshot.enabled) { if (erpm < 0xFFFF && group.bdshot.enabled) {
update_rpm(chan, erpm * 200 / _bdshot.motor_poles, get_erpm_error_rate(chan)); update_rpm(chan, erpm * 200 / _bdshot.motor_poles, get_erpm_error_rate(chan));
} }
#endif
_bdshot.erpm[chan] = erpm; _bdshot.erpm[chan] = erpm;
#endif #endif
uint16_t pwm = period[chan]; uint16_t pwm = period[chan];