Merge pull request #9730 from etracer65/fix_arming_disable_rpmfilter_…

…bitbang
betaflight · Apr 25, 2020 · 283bda8 · 283bda8
1 parent 43b7fc6
commit 283bda8
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Showing 3 changed files with 12 additions and 5 deletions.
diff --git a/src/main/drivers/motor.c b/src/main/drivers/motor.c
@@ -72,7 +72,7 @@ void motorWriteAll(float *values)
 #endif
 }
 
-int motorCount(void)
+int motorDeviceCount(void)
 {
     return motorDevice->count;
 }

diff --git a/src/main/drivers/motor.h b/src/main/drivers/motor.h
@@ -82,6 +82,8 @@ uint16_t motorConvertToExternal(float motorValue);
 
 struct motorDevConfig_s; // XXX Shouldn't be needed once pwm_output* is really cleaned up.
 void motorDevInit(const struct motorDevConfig_s *motorConfig, uint16_t idlePulse, uint8_t motorCount);
+
+int motorDeviceCount(void);
 bool isMotorProtocolDshot(void);
 
 void motorDisable(void);

diff --git a/src/main/drivers/pwm_output_dshot_shared.c b/src/main/drivers/pwm_output_dshot_shared.c
@@ -46,6 +46,7 @@
 #include "drivers/dshot.h"
 #include "drivers/dshot_dpwm.h"
 #include "drivers/dshot_command.h"
+#include "drivers/motor.h"
 
 #include "pwm_output_dshot_shared.h"
 
@@ -264,12 +265,16 @@ bool isDshotMotorTelemetryActive(uint8_t motorIndex)
 
 bool isDshotTelemetryActive(void)
 {
-    for (unsigned i = 0; i < dshotPwmDevice.count; i++) {
-        if (!isDshotMotorTelemetryActive(i)) {
-            return false;
+    const unsigned motorCount = motorDeviceCount();
+    if (motorCount) {
+        for (unsigned i = 0; i < motorCount; i++) {
+            if (!isDshotMotorTelemetryActive(i)) {
+                return false;
+            }
         }
+        return true;
     }
-    return true;
+    return false;
 }
 
 #ifdef USE_DSHOT_TELEMETRY_STATS