From 46bba2e15c9acba89ebc1b11422a1a8284f33ed8 Mon Sep 17 00:00:00 2001 From: Nicolas de Palezieux Date: Thu, 17 Oct 2019 10:33:18 +0200 Subject: [PATCH] dshot telemetry: enable telemetry publishing for setups with only one ESC --- src/drivers/dshot/dshot.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/drivers/dshot/dshot.cpp b/src/drivers/dshot/dshot.cpp index 651c43859bb8..349967cc8820 100644 --- a/src/drivers/dshot/dshot.cpp +++ b/src/drivers/dshot/dshot.cpp @@ -598,7 +598,7 @@ void DShotOutput::handleNewTelemetryData(int motor_index, const DShotTelemetry:: } // publish when motor index wraps (which is robust against motor timeouts) - if (motor_index < _telemetry->last_motor_index) { + if (motor_index <= _telemetry->last_motor_index) { esc_status.timestamp = hrt_absolute_time(); esc_status.esc_connectiontype = esc_status_s::ESC_CONNECTION_TYPE_DSHOT; esc_status.esc_count = _telemetry->handler.numMotors();