AP_DroneCAN: actuator status is measured, not commanded

ArduPilot · Dec 2, 2024 · bf5555c · bf5555c
1 parent 13807f2
commit bf5555c
Showing 1 changed file with 1 addition and 1 deletion.
diff --git a/libraries/AP_DroneCAN/AP_DroneCAN.cpp b/libraries/AP_DroneCAN/AP_DroneCAN.cpp
@@ -1393,7 +1393,7 @@ void AP_DroneCAN::handle_actuator_status(const CanardRxTransfer& transfer, const
         .force = msg.force,
         .speed = msg.speed,
         .duty_cycle = msg.power_rating_pct,
-        .valid_types = AP_Servo_Telem::TelemetryData::Types::COMMANDED_POSITION |
+        .valid_types = AP_Servo_Telem::TelemetryData::Types::MEASURED_POSITION |
                        AP_Servo_Telem::TelemetryData::Types::FORCE |
                        AP_Servo_Telem::TelemetryData::Types::SPEED |
                        AP_Servo_Telem::TelemetryData::Types::DUTY_CYCLE