From bf5555ccd36bc3fea4b41b1131782950407e4733 Mon Sep 17 00:00:00 2001 From: Andrew Tridgell Date: Tue, 19 Nov 2024 08:19:37 +1100 Subject: [PATCH] AP_DroneCAN: actuator status is measured, not commanded --- libraries/AP_DroneCAN/AP_DroneCAN.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/libraries/AP_DroneCAN/AP_DroneCAN.cpp b/libraries/AP_DroneCAN/AP_DroneCAN.cpp index 8f07785773..58cdc7e1b6 100644 --- a/libraries/AP_DroneCAN/AP_DroneCAN.cpp +++ b/libraries/AP_DroneCAN/AP_DroneCAN.cpp @@ -1393,7 +1393,7 @@ void AP_DroneCAN::handle_actuator_status(const CanardRxTransfer& transfer, const .force = msg.force, .speed = msg.speed, .duty_cycle = msg.power_rating_pct, - .valid_types = AP_Servo_Telem::TelemetryData::Types::COMMANDED_POSITION | + .valid_types = AP_Servo_Telem::TelemetryData::Types::MEASURED_POSITION | AP_Servo_Telem::TelemetryData::Types::FORCE | AP_Servo_Telem::TelemetryData::Types::SPEED | AP_Servo_Telem::TelemetryData::Types::DUTY_CYCLE