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AP_UAVCAN: only apply ESC telemetry updates that are valid

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Andy Piper 2022-09-06 16:27:13 +01:00 committed by Peter Barker
parent 7510b68a8e
commit 5b7f1779c6
1 changed files with 3 additions and 3 deletions
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6
libraries/AP_UAVCAN/AP_UAVCAN.cpp
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@ -999,9 +999,9 @@ void AP_UAVCAN::handle_ESC_status(AP_UAVCAN* ap_uavcan, uint8_t node_id, const E
ap_uavcan->update_rpm(esc_index, cb.msg->rpm);
ap_uavcan->update_telem_data(esc_index, t,
AP_ESC_Telem_Backend::TelemetryType::CURRENT
| AP_ESC_Telem_Backend::TelemetryType::VOLTAGE
| AP_ESC_Telem_Backend::TelemetryType::TEMPERATURE);
(isnanf(cb.msg->current) ? 0 : AP_ESC_Telem_Backend::TelemetryType::CURRENT)
| (isnanf(cb.msg->voltage) ? 0 : AP_ESC_Telem_Backend::TelemetryType::VOLTAGE)
| (isnanf(cb.msg->temperature) ? 0 : AP_ESC_Telem_Backend::TelemetryType::TEMPERATURE));
#endif
}