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Correct ESC mask for takeoff check #25512

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merged 1 commit into from
Nov 15, 2023
Merged

Correct ESC mask for takeoff check #25512

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6 changes: 6 additions & 0 deletions ArduCopter/takeoff_check.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -29,6 +29,12 @@ void Copter::takeoff_check()

// check ESCs are sending RPM at expected level
uint32_t motor_mask = motors->get_motor_mask();
#if HAL_WITH_IO_MCU
if (AP_BoardConfig::io_enabled()) {
// In 4.4 and earlier ESC telemetry is always indexed from 1 for servo channels 9+
motor_mask >>= 8;
}
#endif
const bool telem_active = AP::esc_telem().is_telemetry_active(motor_mask);
const bool rpm_adequate = AP::esc_telem().are_motors_running(motor_mask, g2.takeoff_rpm_min);

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