AP_ESC_TELEM: solved the logical error in grouping of escs into 4

adityaomar3 · Apr 17, 2024 · 407e8b2 · 407e8b2
1 parent 4ca2277
commit 407e8b2
Showing 1 changed file with 4 additions and 1 deletion.
diff --git a/libraries/AP_ESC_Telem/AP_ESC_Telem.cpp b/libraries/AP_ESC_Telem/AP_ESC_Telem.cpp
@@ -309,7 +309,10 @@ void AP_ESC_Telem::send_esc_telemetry_mavlink(uint8_t mav_chan)
 
     // loop through groups of 4 ESCs
     const uint8_t esc_offset = constrain_int16(mavlink_offset, 0, ESC_TELEM_MAX_ESCS-1);
-    const uint8_t num_idx = ESC_TELEM_MAX_ESCS/4;
+
+    // ensure we send out partially-full groups:
+    const uint8_t num_idx = (ESC_TELEM_MAX_ESCS % 4 == 0) ? ESC_TELEM_MAX_ESCS / 4 : (ESC_TELEM_MAX_ESCS / 4) + 1; 
+
     for (uint8_t idx = 0; idx < num_idx; idx++) {
         const uint8_t i = (next_idx + idx) % num_idx;