AP_HAL_ChibiOS: ESC telemetry is orthogonal to RPM telemetry

4 years ago · dbd9b3a9ae
1 changed files with 1 additions and 1 deletions
--- a/libraries/AP_HAL_ChibiOS/RCOutput.cpp
+++ b/libraries/AP_HAL_ChibiOS/RCOutput.cpp
@ -1389,7 +1389,7 @@ void RCOutput::dshot_send(pwm_group &group, uint32_t time_out_us)
				@@ -1389,7 +1389,7 @@ void RCOutput::dshot_send(pwm_group &group, uint32_t time_out_us)
            }

            // according to sskaug requesting telemetry while trying to arm may interfere with the good frame calc
-            bool request_telemetry = (telem_request_mask & chan_mask) || group.bdshot.enabled;
+            bool request_telemetry = telem_request_mask & chan_mask;
            uint16_t packet = create_dshot_packet(value, request_telemetry, group.bdshot.enabled);
            if (request_telemetry) {
                telem_request_mask &= ~chan_mask;