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AP_BLHeli: normalize ESC index correctly with iomcu #29001

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AP_BLHeli: normalize ESC index correctly with iomcu #29001

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8c92ab0
AP_BLHeli: normalize ESC index correctly with iomcu
andyp1per Jan 4, 2025
dafdb7c
AP_BLHeli: use native motor numbering
andyp1per Jan 9, 2025
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11 changes: 2 additions & 9 deletions libraries/AP_BLHeli/AP_BLHeli.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -1466,14 +1466,7 @@ void AP_BLHeli::read_telemetry_packet(void)
const uint8_t motor_idx = motor_map[last_telem_esc];
// we have received valid data, mark the ESC as now active
hal.rcout->set_active_escs_mask(1<<motor_idx);

uint8_t normalized_motor_idx = motor_idx - chan_offset;
#if HAL_WITH_IO_MCU
if (AP_BoardConfig::io_dshot()) {
normalized_motor_idx = motor_idx;
}
#endif
update_rpm(normalized_motor_idx, new_rpm);
update_rpm(motor_idx, new_rpm);

TelemetryData t {
.temperature_cdeg = int16_t(buf[0] * 100),
Expand All @@ -1482,7 +1475,7 @@ void AP_BLHeli::read_telemetry_packet(void)
.consumption_mah = float(uint16_t((buf[5]<<8) | buf[6])),
};

update_telem_data(normalized_motor_idx, t,
update_telem_data(motor_idx, t,
AP_ESC_Telem_Backend::TelemetryType::CURRENT
| AP_ESC_Telem_Backend::TelemetryType::VOLTAGE
| AP_ESC_Telem_Backend::TelemetryType::CONSUMPTION
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