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AP_ESC_Telem:make logged ESC id match the output to which its attached #26857

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AP_ESC_Telem:make logged ESC id match the output to which its attached #26857

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4 changes: 2 additions & 2 deletions libraries/AP_ESC_Telem/AP_ESC_Telem.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -514,7 +514,7 @@ void AP_ESC_Telem::update()
get_rpm(i, rpm);
float raw_rpm = AP::logger().quiet_nanf();
get_raw_rpm(i, raw_rpm);

uint8_t _i = i + 1;
// Write ESC status messages
// id starts from 0
// rpm, raw_rpm is eRPM (in RPM units)
Expand All @@ -527,7 +527,7 @@ void AP_ESC_Telem::update()
const struct log_Esc pkt{
LOG_PACKET_HEADER_INIT(uint8_t(LOG_ESC_MSG)),
time_us : now_us64,
instance : i,
instance : _i, //makes logged instance agree to output that ESC is attached
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probably no need for the intermediate "_i" variable. This line could be changed to: "instance : i+1" instead.

There's a comment a few lines up that says "id starts from 0" which should be updated.

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tried that first and it failed to compile

rpm : rpm,
raw_rpm : raw_rpm,
voltage : telemdata.voltage,
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