AP_ESC_Telem : fix backport issues for ESCX

- changed telemdata to _telem_data[i], and rpmdata to _rpm_data[i]
CarbonixUAV · Aug 20, 2024 · c1b25f1 · c1b25f1
1 parent ad1406a
commit c1b25f1
Showing 1 changed file with 6 additions and 6 deletions.
diff --git a/libraries/AP_ESC_Telem/AP_ESC_Telem.cpp b/libraries/AP_ESC_Telem/AP_ESC_Telem.cpp
@@ -578,8 +578,8 @@ void AP_ESC_Telem::update()
                 || _rpm_data[i].last_update_us != _last_rpm_log_us[i]) {
 
                 // Update last log timestamps
-                _last_telem_log_ms[i] = telemdata.last_update_ms;
-                _last_rpm_log_us[i] = rpmdata.last_update_us;
+                _last_telem_log_ms[i] = _telem_data[i].last_update_ms;
+                _last_rpm_log_us[i] = _rpm_data[i].last_update_us;
 
                 float rpm = AP::logger().quiet_nanf();
                 get_rpm(i, rpm);
@@ -616,7 +616,7 @@ void AP_ESC_Telem::update()
                 //   input duty: duty cycle input to the ESC in percent
                 //   output duty: duty cycle output to the motor in percent
                 //   status flags: manufacurer-specific status flags
-                const bool has_ext_data = telemdata.types & 
+                const bool has_ext_data = _telem_data[i].types & 
                         (AP_ESC_Telem_Backend::TelemetryType::INPUT_DUTY |
                          AP_ESC_Telem_Backend::TelemetryType::OUTPUT_DUTY |
                          AP_ESC_Telem_Backend::TelemetryType::FLAGS);
@@ -635,9 +635,9 @@ void AP_ESC_Telem::update()
                                                 "Q"     "B"      "B"   "B"    "I",
                                                 AP_HAL::micros64(),
                                                 i,
-                                                telemdata.input_duty,
-                                                telemdata.output_duty,
-                                                telemdata.flags);
+                                                _telem_data[i].input_duty,
+                                                _telem_data[i].output_duty,
+                                                _telem_data[i].flags);
                 }
 #endif //AP_EXTENDED_ESC_TELEM_ENABLED
             }