From 6c634ebc00cf7de6ae6bb5415adc8b7eb1205cb7 Mon Sep 17 00:00:00 2001 From: Andy Piper Date: Mon, 22 Jan 2024 12:32:17 +0000 Subject: [PATCH] AP_HAL_ChibiOS: allow dshot beeps to play on all dshot ESC types --- libraries/AP_HAL_ChibiOS/Util.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/libraries/AP_HAL_ChibiOS/Util.cpp b/libraries/AP_HAL_ChibiOS/Util.cpp index 3f11aa6696e..85308f5345c 100644 --- a/libraries/AP_HAL_ChibiOS/Util.cpp +++ b/libraries/AP_HAL_ChibiOS/Util.cpp @@ -226,7 +226,7 @@ void Util::toneAlarm_set_buzzer_tone(float frequency, float volume, uint32_t dur #endif // HAL_USE_PWM #if HAL_DSHOT_ALARM_ENABLED // don't play the motors while flying - if (!(_toneAlarm_types & AP_Notify::Notify_Buzz_DShot) || get_soft_armed() || hal.rcout->get_dshot_esc_type() != RCOutput::DSHOT_ESC_BLHELI) { + if (!(_toneAlarm_types & AP_Notify::Notify_Buzz_DShot) || get_soft_armed() || hal.rcout->get_dshot_esc_type() == RCOutput::DSHOT_ESC_NONE) { return; }