From 9753f36dd10000b0cdb5506d4f31e1a4f374fe32 Mon Sep 17 00:00:00 2001 From: Andy Piper Date: Sun, 24 Jul 2022 21:36:43 +0100 Subject: [PATCH] AP_BLHeli: make ESC debug easier to see --- libraries/AP_BLHeli/AP_BLHeli.cpp | 6 ++++-- 1 file changed, 4 insertions(+), 2 deletions(-) diff --git a/libraries/AP_BLHeli/AP_BLHeli.cpp b/libraries/AP_BLHeli/AP_BLHeli.cpp index 0537aac2a5..f86fd034a0 100644 --- a/libraries/AP_BLHeli/AP_BLHeli.cpp +++ b/libraries/AP_BLHeli/AP_BLHeli.cpp @@ -1494,8 +1494,10 @@ void AP_BLHeli::log_bidir_telemetry(void) trpm = trpm * 200 / motor_poles; } - last_log_ms[last_telem_esc] = now; - DEV_PRINTF("ESC[%u] RPM=%u e=%.1f t=%u\n", last_telem_esc, trpm, hal.rcout->get_erpm_error_rate(motor_idx), (unsigned)AP_HAL::millis()); + if (trpm > 0) { + last_log_ms[last_telem_esc] = now; + DEV_PRINTF("ESC[%u] RPM=%u e=%.1f t=%u\n", last_telem_esc, trpm, hal.rcout->get_erpm_error_rate(motor_idx), (unsigned)AP_HAL::millis()); + } } }