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Code Issues Wiki Activity

Fix serial esc telemetry with bitbang dshot

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This commit is contained in:
Thorsten Laux 2019-09-05 11:13:25 +02:00
parent 2553a4a1f9
commit b6b2b90f38
1 changed files with 6 additions and 1 deletions
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7
src/main/drivers/dshot_bitbang.c
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@ -39,6 +39,7 @@
#include "drivers/motor.h"
#include "drivers/nvic.h"
#include "drivers/pwm_output.h" // XXX for pwmOutputPort_t motors[]; should go away with refactoring
#include "drivers/dshot_dpwm.h" // XXX for motorDmaOutput_t *getMotorDmaOutput(uint8_t index); should go away with refactoring
#include "drivers/dshot_bitbang_decode.h"
#include "drivers/time.h"
#include "drivers/timer.h"
@ -475,8 +476,12 @@ static void bbWriteInt(uint8_t motorIndex, uint16_t value)
return;
}
// If there is a command ready to go overwrite the value and send that instead
// fetch requestTelemetry from motors. Needs to be refactored.
motorDmaOutput_t * const motor = getMotorDmaOutput(motorIndex);
bbmotor->protocolControl.requestTelemetry = motor->protocolControl.requestTelemetry;
motor->protocolControl.requestTelemetry = false;
// If there is a command ready to go overwrite the value and send that instead
if (dshotCommandIsProcessing()) {
value = dshotCommandGetCurrent(motorIndex);
if (value) {