From e3d2a4806efdca59011eabd76920ef3868bffdd1 Mon Sep 17 00:00:00 2001 From: "Dr.-Ing. Amilcar do Carmo Lucas" Date: Fri, 8 Oct 2021 13:59:29 +0200 Subject: [PATCH] Copter: Send ESC telemetry over mavlink while doing compassmot compassmot can be used to bypass all PID control loops (this avoids forwarding IMU noise to the motors) while stress-testing the ESCs+motors. So that temperatures can be monitored in real-time during those long tests, send ESC telemetry as well. --- ArduCopter/compassmot.cpp | 4 ++++ 1 file changed, 4 insertions(+) diff --git a/ArduCopter/compassmot.cpp b/ArduCopter/compassmot.cpp index 63ae89e807..02d6573653 100644 --- a/ArduCopter/compassmot.cpp +++ b/ArduCopter/compassmot.cpp @@ -224,6 +224,10 @@ MAV_RESULT Copter::mavlink_compassmot(const GCS_MAVLINK &gcs_chan) motor_compensation[0].x, motor_compensation[0].y, motor_compensation[0].z); +#if HAL_WITH_ESC_TELEM + // send ESC telemetry to monitor ESC and motor temperatures + AP::esc_telem().send_esc_telemetry_mavlink(gcs_chan.get_chan()); +#endif } }