AP_DroneCAN: ESCStatus read error_count

CarbonixUAV · Oct 21, 2024 · 834541b · 834541b
1 parent db27670
commit 834541b
Showing 1 changed file with 3 additions and 1 deletion.
diff --git a/libraries/AP_DroneCAN/AP_DroneCAN.cpp b/libraries/AP_DroneCAN/AP_DroneCAN.cpp
@@ -1428,16 +1428,18 @@ void AP_DroneCAN::handle_ESC_status(const CanardRxTransfer& transfer, const uavc
         .temperature_cdeg = int16_t((KELVIN_TO_C(msg.temperature)) * 100),
         .voltage = msg.voltage,
         .current = msg.current,
+        .error_count = msg.error_count,
 #if AP_EXTENDED_ESC_TELEM_ENABLED
         .power_percentage = msg.power_rating_pct,
 #endif
     };
 
-    update_rpm(esc_index, msg.rpm, msg.error_count);
+    update_rpm(esc_index, msg.rpm, 0);
     update_telem_data(esc_index, t,
         (isnan(msg.current) ? 0 : AP_ESC_Telem_Backend::TelemetryType::CURRENT)
             | (isnan(msg.voltage) ? 0 : AP_ESC_Telem_Backend::TelemetryType::VOLTAGE)
             | (isnan(msg.temperature) ? 0 : AP_ESC_Telem_Backend::TelemetryType::TEMPERATURE)
+            | AP_ESC_Telem_Backend::TelemetryType::ERROR_COUNT
 #if AP_EXTENDED_ESC_TELEM_ENABLED
             | AP_ESC_Telem_Backend::TelemetryType::POWER_PERCENTAGE
 #endif