Merge pull request #8828 from joelucid/fix_esc_telemetry
Fix serial esc telemetry with bitbang dshot
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commit
8639fb88a6
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@ -39,6 +39,7 @@
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#include "drivers/motor.h"
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#include "drivers/nvic.h"
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#include "drivers/pwm_output.h" // XXX for pwmOutputPort_t motors[]; should go away with refactoring
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#include "drivers/dshot_dpwm.h" // XXX for motorDmaOutput_t *getMotorDmaOutput(uint8_t index); should go away with refactoring
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#include "drivers/dshot_bitbang_decode.h"
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#include "drivers/time.h"
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#include "drivers/timer.h"
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@ -475,8 +476,12 @@ static void bbWriteInt(uint8_t motorIndex, uint16_t value)
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return;
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}
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// If there is a command ready to go overwrite the value and send that instead
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// fetch requestTelemetry from motors. Needs to be refactored.
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motorDmaOutput_t * const motor = getMotorDmaOutput(motorIndex);
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bbmotor->protocolControl.requestTelemetry = motor->protocolControl.requestTelemetry;
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motor->protocolControl.requestTelemetry = false;
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// If there is a command ready to go overwrite the value and send that instead
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if (dshotCommandIsProcessing()) {
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value = dshotCommandGetCurrent(motorIndex);
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if (value) {
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