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dshot telemetry: enable telemetry publishing for setups with only one ESC #13217

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merged 1 commit into from
Oct 17, 2019
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dshot telemetry: enable telemetry publishing for setups with only one ESC #13217

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2 changes: 1 addition & 1 deletion src/drivers/dshot/dshot.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -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();
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