Added checks for ESC_SENSOR feature being enabled when reading ESC sensor data. (#5663)

src/main/fc/config.c

@@ -276,6 +276,12 @@ static void validateAndFixConfig(void)
     }
 #endif // USE_OSD_SLAVE
 
+#if defined(USE_ESC_SENSOR)
+    if (!findSerialPortConfig(FUNCTION_ESC_SENSOR)) {
+        featureClear(FEATURE_ESC_SENSOR);
+    }
+#endif
+
 // clear features that are not supported.
 // I have kept them all here in one place, some could be moved to sections of code above.
 

src/main/sensors/current.c

@@ -218,7 +218,7 @@ void currentMeterESCRefresh(int32_t lastUpdateAt)
     UNUSED(lastUpdateAt);
 
     escSensorData_t *escData = getEscSensorData(ESC_SENSOR_COMBINED);
-    if (escData->dataAge <= ESC_BATTERY_AGE_MAX) {
+    if (escData && escData->dataAge <= ESC_BATTERY_AGE_MAX) {
         currentMeterESCState.amperage = escData->current;
         currentMeterESCState.mAhDrawn = escData->consumption;
     } else {

src/main/sensors/esc_sensor.c

@@ -145,6 +145,10 @@ bool isEscSensorActive(void)
 
 escSensorData_t *getEscSensorData(uint8_t motorNumber)
 {
+    if (!feature(FEATURE_ESC_SENSOR)) {
+        return NULL;
+    }
+
     if (motorNumber < getMotorCount()) {
         return &escSensorData[motorNumber];
     } else if (motorNumber == ESC_SENSOR_COMBINED) {

src/main/sensors/voltage.c

@@ -220,8 +220,10 @@ void voltageMeterESCRefresh(void)
 {
 #ifdef USE_ESC_SENSOR
     escSensorData_t *escData = getEscSensorData(ESC_SENSOR_COMBINED);
-    voltageMeterESCState.voltageUnfiltered = escData->dataAge <= ESC_BATTERY_AGE_MAX ? escData->voltage / 10 : 0;
+    if (escData) {
-    voltageMeterESCState.voltageFiltered = biquadFilterApply(&voltageMeterESCState.filter, voltageMeterESCState.voltageUnfiltered);
+        voltageMeterESCState.voltageUnfiltered = escData->dataAge <= ESC_BATTERY_AGE_MAX ? escData->voltage / 10 : 0;
+        voltageMeterESCState.voltageFiltered = biquadFilterApply(&voltageMeterESCState.filter, voltageMeterESCState.voltageUnfiltered);
+    }
 #endif
 }
 

src/main/telemetry/frsky_hub.c

@@ -182,7 +182,9 @@ static void sendThrottleOrBatterySizeAsRpm(void)
     int16_t data;
 #if defined(USE_ESC_SENSOR)
     escSensorData_t *escData = getEscSensorData(ESC_SENSOR_COMBINED);
-    data = escData->dataAge < ESC_DATA_INVALID ? escData->rpm : 0;
+    if (escData) {
+        data = escData->dataAge < ESC_DATA_INVALID ? escData->rpm : 0;
+    }
 #else
     if (ARMING_FLAG(ARMED)) {
         const throttleStatus_e throttleStatus = calculateThrottleStatus();
@@ -204,7 +206,9 @@ static void sendTemperature1(void)
     int16_t data;
 #if defined(USE_ESC_SENSOR)
     escSensorData_t *escData = getEscSensorData(ESC_SENSOR_COMBINED);
-    data = escData->dataAge < ESC_DATA_INVALID ? escData->temperature : 0;
+    if (escData) {
+        data = escData->dataAge < ESC_DATA_INVALID ? escData->temperature : 0;
+    }
 #elif defined(USE_BARO)
     data = (baro.baroTemperature + 50)/ 100; // Airmamaf
 #else