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fix(dshot): keep programming active until the save is sent

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The flag was cleared when the save command was queued, so it no longer guarded the save itself. Only the finished() gate in the vehicle command loop kept a CONFIGURE_ACTUATOR from replacing it. Clear the flag when the last save frame goes out so the guard covers the whole sequence.

Assisted-by: Claude:claude-fable-5-1
Signed-off-by: Jacob Dahl <dahl.jakejacob@gmail.com>
This commit is contained in:
Jacob Dahl
2026-09-25 21:07:26 -06:00
parent 476eb7454b
commit 6916554eba
1 changed files with 3 additions and 3 deletions
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src/drivers/dshot/DShot.cpp
+3 -3
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@@ -313,7 +313,6 @@ void DShot::select_next_command()
// All settings have been written
PX4_DEBUG("All settings written at time %.2fs", (double)hrt_absolute_time() / 1000000.);
_dshot_programming_active = false;
_current_command.command = DSHOT_CMD_SAVE_SETTINGS;
_current_command.num_repetitions = 6;
_current_command.motor_mask = programming_motor_mask;
@@ -424,8 +423,9 @@ void DShot::update_motor_commands(int num_outputs)
if (command_sent) {
--_current_command.num_repetitions;
if (!_dshot_programming_active && _current_command.finished()
&& _current_command.command == DSHOT_CMD_SAVE_SETTINGS) {
if (_current_command.finished() && _current_command.command == DSHOT_CMD_SAVE_SETTINGS) {
// Programming ends with the save: anything sent in its place leaves the ESC on unsaved settings.
_dshot_programming_active = false;
_telemetry.invalidateSettings(_current_command.motor_mask);
_serial_telem_delay_until = hrt_absolute_time() + 500_ms;