From abc78d1169a5968abbf1a609ebb4c8506b04eb89 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Karol=20Pieni=C4=85cy?= <karol.pieniacy@gmail.com>
Date: Fri, 21 Jul 2023 11:55:26 +0200
Subject: [PATCH] libraries: fix delay after subsequent Robotis servo
 detections

This fix probably reflects the original intention of the code author, because without it delays set in detect_servos() are ignored.
Without this fix Dynamixel XC330-T288-T does not start and enters something like a "soft bricked" state (no errors reported, but not responding to any commands). This adds a delay after ping messages so that servos have time to respond to the pings and are ready to be configured further.
---
 libraries/AP_RobotisServo/AP_RobotisServo.cpp | 1 +
 1 file changed, 1 insertion(+)

diff --git a/libraries/AP_RobotisServo/AP_RobotisServo.cpp b/libraries/AP_RobotisServo/AP_RobotisServo.cpp
index e4dc7eddff..5261b1615d 100644
--- a/libraries/AP_RobotisServo/AP_RobotisServo.cpp
+++ b/libraries/AP_RobotisServo/AP_RobotisServo.cpp
@@ -373,6 +373,7 @@ void AP_RobotisServo::update()
     if (detection_count < DETECT_SERVO_COUNT) {
         detection_count++;
         detect_servos();
+        return;
     }
 
     if (servo_mask == 0) {