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AP_HAL_ChibiOS: allow forcing of trigger_groups()

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Andy Piper authored and Andrew Tridgell committed 2024-12-04 07:45:05 +11:00
1 parent 76897e9674
commit 048a3af785
2 files changed
+9 -1
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libraries/AP_HAL_ChibiOS/RCOutput.cpp
+2 -1
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@@ -1398,7 +1398,8 @@ void RCOutput::trigger_groups()
osalSysUnlock();
#if !defined(HAL_NO_RCOUT_THREAD) || HAL_DSHOT_ENABLED
// trigger a PWM send
if (!in_soft_serial() && hal.scheduler->in_main_thread() && rcout_thread_ctx) {
if (!in_soft_serial() &&
(hal.scheduler->in_main_thread() || force_trigger) && rcout_thread_ctx) {
chEvtSignal(rcout_thread_ctx, EVT_PWM_SEND);
}
#endif