From b89c60d5b0a708f09a8122db327b094538f0e245 Mon Sep 17 00:00:00 2001 From: vierfuffzig Date: Wed, 2 Oct 2019 12:17:01 +0200 Subject: [PATCH] AP_BLHeli: fix watchdog resets with telemetry active from non-multirotor motors --- libraries/AP_BLHeli/AP_BLHeli.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/libraries/AP_BLHeli/AP_BLHeli.cpp b/libraries/AP_BLHeli/AP_BLHeli.cpp index c103d5909f..a902433935 100644 --- a/libraries/AP_BLHeli/AP_BLHeli.cpp +++ b/libraries/AP_BLHeli/AP_BLHeli.cpp @@ -1274,7 +1274,7 @@ void AP_BLHeli::update(void) motor_mask = mask; debug("ESC: %u motors mask=0x%04x", num_motors, mask); - if (telem_rate > 0) { + if (num_motors != 0 && telem_rate > 0) { AP_SerialManager *serial_manager = AP_SerialManager::get_singleton(); if (serial_manager) { telem_uart = serial_manager->find_serial(AP_SerialManager::SerialProtocol_ESCTelemetry,0);