AP_PiccoloCAN: Fix logic to improve readability

5 years ago · 09d38f8729
1 changed files with 5 additions and 1 deletions
--- a/libraries/AP_PiccoloCAN/AP_PiccoloCAN.cpp
+++ b/libraries/AP_PiccoloCAN/AP_PiccoloCAN.cpp
@ -384,7 +384,11 @@ void AP_PiccoloCAN::send_esc_messages(void)
				@@ -384,7 +384,11 @@ void AP_PiccoloCAN::send_esc_messages(void)

    // No ESCs are selected? Don't send anything
    if (_esc_bm == 0x00) {
-    } else if (hal.util->get_soft_armed()) {
+        return;
+    }
+
+    // System is armed - send out ESC commands
+    if (hal.util->get_soft_armed()) {

        bool send_cmd = false;
        int16_t cmd[4] {};