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Copter: Send ESC telemetry over mavlink while doing compassmot

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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.
This commit is contained in:
Dr.-Ing. Amilcar do Carmo Lucas 2021-10-08 13:59:29 +02:00 committed by Andrew Tridgell
parent 26e867ebf2
commit e7c82e86d2
1 changed files with 4 additions and 0 deletions
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4
ArduCopter/compassmot.cpp
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@ -224,6 +224,10 @@ MAV_RESULT Copter::mavlink_compassmot(const GCS_MAVLINK &gcs_chan)
motor_compensation[0].x, motor_compensation[0].x,
motor_compensation[0].y, motor_compensation[0].y,
motor_compensation[0].z); 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
} }
} }