AP_HAL_ChibiOS: dshot commands for reverse/3D should be sent to IOMCU

ArduPilot · Aug 20, 2024 · e3bf00a · e3bf00a
1 parent 457d7bd
commit e3bf00a
Showing 1 changed file with 2 additions and 2 deletions.
diff --git a/libraries/AP_HAL_ChibiOS/RCOutput_serial.cpp b/libraries/AP_HAL_ChibiOS/RCOutput_serial.cpp
@@ -156,8 +156,8 @@ void RCOutput::update_channel_masks() {
         return;
     }
 
-#if HAL_PWM_COUNT > 0
-    for (uint8_t i=chan_offset; i<HAL_PWM_COUNT+chan_offset; i++) {
+#if NUM_SERVO_CHANNELS > 0
+    for (uint8_t i=0; i<NUM_SERVO_CHANNELS; i++) {
         switch (_dshot_esc_type) {
             case DSHOT_ESC_BLHELI:
             case DSHOT_ESC_BLHELI_S: