Skip to content

Commit

Permalink
libraries: fix delay after subsequent Robotis servo detections
Browse files Browse the repository at this point in the history
This fix probably reflects the original intention of the code author, because without it delays set in detect_servos() are ignored.
Without this fix Dynamixel XC330-T288-T does not start and enters something like a "soft bricked" state (no errors reported, but not responding to any commands). This adds a delay after ping messages so that servos have time to respond to the pings and are ready to be configured further.
  • Loading branch information
pieniacy authored and peterbarker committed Aug 3, 2023
1 parent ba72c58 commit abc78d1
Showing 1 changed file with 1 addition and 0 deletions.
1 change: 1 addition & 0 deletions libraries/AP_RobotisServo/AP_RobotisServo.cpp
Original file line number Diff line number Diff line change
Expand Up @@ -373,6 +373,7 @@ void AP_RobotisServo::update()
if (detection_count < DETECT_SERVO_COUNT) {
detection_count++;
detect_servos();
return;
}

if (servo_mask == 0) {
Expand Down

0 comments on commit abc78d1

Please sign in to comment.