feat(dshot): Extended Telemetry and EEPROM support

boards/ark/fmu-v6x/default.px4board

@@ -28,16 +28,10 @@ CONFIG_DRIVERS_IMU_INVENSENSE_IIM42653=y
 CONFIG_DRIVERS_IMU_MURATA_SCH16T=y
 CONFIG_COMMON_LIGHT=y
 CONFIG_DRIVERS_MAGNETOMETER_BOSCH_BMM150=y
-CONFIG_DRIVERS_MAGNETOMETER_HMC5883=y
-CONFIG_DRIVERS_MAGNETOMETER_QMC5883L=y
-CONFIG_DRIVERS_MAGNETOMETER_ISENTEK_IST8308=y
-CONFIG_DRIVERS_MAGNETOMETER_ISENTEK_IST8310=y
 CONFIG_DRIVERS_MAGNETOMETER_LIS3MDL=y
-CONFIG_DRIVERS_MAGNETOMETER_LSM303AGR=y
 CONFIG_DRIVERS_MAGNETOMETER_RM3100=y
 CONFIG_DRIVERS_MAGNETOMETER_ST_IIS2MDC=y
 CONFIG_DRIVERS_POWER_MONITOR_INA226=y
-CONFIG_DRIVERS_POWER_MONITOR_INA228=y
 CONFIG_DRIVERS_POWER_MONITOR_INA238=y
 CONFIG_DRIVERS_PCA9685_PWM_OUT=y
 CONFIG_DRIVERS_PWM_OUT=y

boards/ark/fmu-v6x/src/board_config.h

@@ -410,9 +410,6 @@
 /* This board provides a DMA pool and APIs */
 #define BOARD_DMA_ALLOC_POOL_SIZE 5120
 
-/* This board has 4 DMA channels available for bidirectional dshot */
-#define BOARD_DMA_NUM_DSHOT_CHANNELS 4
-
 /* This board provides the board_on_reset interface */
 
 #define BOARD_HAS_ON_RESET 1

boards/ark/fpv/default.px4board

@@ -59,6 +59,7 @@ CONFIG_MODULES_LOGGER=y
 CONFIG_MODULES_MAG_BIAS_ESTIMATOR=y
 CONFIG_MODULES_MANUAL_CONTROL=y
 CONFIG_MODULES_MAVLINK=y
+CONFIG_MAVLINK_DIALECT="development"
 CONFIG_MODULES_MC_ATT_CONTROL=y
 CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=y
 CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y

boards/ark/fpv/init/rc.board_airframes

@@ -0,0 +1,19 @@
+4001_quad_x
+4050_generic_250
+6001_hexa_x
+12001_octo_cox
+13100_generic_vtol_tiltrotor
+5001_quad_+
+24001_dodeca_cox
+2100_standard_plane
+13000_generic_vtol_standard
+4601_droneblocks_dexi_5
+11001_hexa_cox
+14001_generic_mc_with_tilt
+16001_helicopter
+9001_octo_+
+7001_hexa_+
+3000_generic_wing
+2106_albatross
+13200_generic_vtol_tailsitter
+13030_generic_vtol_quad_tiltrotor

boards/ark/fpv/src/board_config.h

@@ -297,9 +297,6 @@
 /* This board provides a DMA pool and APIs */
 #define BOARD_DMA_ALLOC_POOL_SIZE 5120
 
-/* This board has 3 DMA channels available for bidirectional dshot */
-#define BOARD_DMA_NUM_DSHOT_CHANNELS 3
-
 /* This board provides the board_on_reset interface */
 
 #define BOARD_HAS_ON_RESET 1

boards/ark/pi6x/src/board_config.h

@@ -300,9 +300,6 @@
 /* This board provides a DMA pool and APIs */
 #define BOARD_DMA_ALLOC_POOL_SIZE 5120
 
-/* This board has 4 DMA channels available for bidirectional dshot */
-#define BOARD_DMA_NUM_DSHOT_CHANNELS 4
-
 /* This board provides the board_on_reset interface */
 
 #define BOARD_HAS_ON_RESET 1

boards/holybro/kakuteh7-wing/nuttx-config/include/board_dma_map.h

@@ -58,11 +58,13 @@
 //#define DMAMAP_USART6_RX  DMAMAP_DMA12_USART6RX_0   /* 5 DMA1:71 PX4IO */
 //#define DMAMAP_USART6_TX  DMAMAP_DMA12_USART6TX_0   /* 6 DMA1:72 PX4IO */
 
-// Assigned in timer_config.cpp
-
-// TODO
-// Timer 4                                          /* 7 DMA1:32 TIM4UP */
-// Timer 5                                          /* 8 DMA1:50 TIM5UP */
+// Dynamically assigned in timer_config.cpp for DShot (allocated/freed per cycle):
+// Timer 1 TIM1UP (burst) + TIM1CH1-4 (capture)
+// Timer 2 TIM2UP (burst) + TIM2CH1-4 (capture)
+// Timer 3 TIM3UP (burst) + TIM3CH1-4 (capture)
+// Timer 4 TIM4UP (burst) + TIM4CH1-3 (capture, CH4 has no DMA)
+// Timer 5 TIM5UP (burst) + TIM5CH1-4 (capture)
+// Timer 15 - no TIM15UP DMA, cannot do DShot
 
 // DMAMUX2 Using at most 8 Channels on DMA2 --------   Assigned
 //                                                     V

boards/holybro/kakuteh7-wing/src/timer_config.cpp

@@ -38,18 +38,20 @@ constexpr io_timers_t io_timers[MAX_IO_TIMERS] = {
 	initIOTimer(Timer::Timer1, DMA{DMA::Index1}),
 	initIOTimer(Timer::Timer4, DMA{DMA::Index1}),
 	initIOTimer(Timer::Timer5, DMA{DMA::Index1}),
-	initIOTimer(Timer::Timer15),
-	initIOTimer(Timer::Timer3),
-	initIOTimer(Timer::Timer2),
+	initIOTimer(Timer::Timer15), // Note: Timer15 has no TIM_UP DMA on STM32H7, cannot do DShot
+	initIOTimer(Timer::Timer3, DMA{DMA::Index1}),
+	initIOTimer(Timer::Timer2, DMA{DMA::Index1}),
 };
 
+// Note: Timer4 Channel4 has no DMAMUX mapping on STM32H7, so BDShot telemetry capture
+// is not available on that channel. DShot output still works (uses TIM_UP DMA for burst).
 constexpr timer_io_channels_t timer_io_channels[MAX_TIMER_IO_CHANNELS] = {
 	initIOTimerChannel(io_timers, {Timer::Timer1, Timer::Channel1}, {GPIO::PortA, GPIO::Pin8}),
 	initIOTimerChannel(io_timers, {Timer::Timer1, Timer::Channel2}, {GPIO::PortE, GPIO::Pin11}),
 	initIOTimerChannel(io_timers, {Timer::Timer1, Timer::Channel3}, {GPIO::PortE, GPIO::Pin13}),
 	initIOTimerChannel(io_timers, {Timer::Timer1, Timer::Channel4}, {GPIO::PortE, GPIO::Pin14}),
 	initIOTimerChannel(io_timers, {Timer::Timer4, Timer::Channel3}, {GPIO::PortD, GPIO::Pin14}),
-	initIOTimerChannel(io_timers, {Timer::Timer4, Timer::Channel4}, {GPIO::PortD, GPIO::Pin15}),
+	initIOTimerChannel(io_timers, {Timer::Timer4, Timer::Channel4}, {GPIO::PortD, GPIO::Pin15}), // no BDShot telemetry readback
 	initIOTimerChannel(io_timers, {Timer::Timer5, Timer::Channel1}, {GPIO::PortA, GPIO::Pin0}),
 	initIOTimerChannel(io_timers, {Timer::Timer5, Timer::Channel2}, {GPIO::PortA, GPIO::Pin1}),
 	initIOTimerChannel(io_timers, {Timer::Timer15, Timer::Channel1}, {GPIO::PortE, GPIO::Pin5}),

msg/CMakeLists.txt

@@ -69,6 +69,8 @@ set(msg_files
 	DistanceSensorModeChangeRequest.msg
 	DronecanNodeStatus.msg
 	Ekf2Timestamps.msg
+	EscEepromRead.msg
+	EscEepromWrite.msg
 	EscReport.msg
 	EscStatus.msg
 	EstimatorAidSource1d.msg

msg/EscEepromRead.msg

@@ -0,0 +1,7 @@
+uint64 timestamp # [us] Time since system start
+uint8 firmware # ESC firmware type (see ESC_FIRMWARE enum in MAVLink)
+uint8 index # [-] Index of the ESC (0 = ESC1, 1 = ESC2, etc.)
+uint16 length # [-] Length of valid data
+uint8[192] data # [-] Raw ESC EEPROM data
+
+uint8 ORB_QUEUE_LENGTH = 8 # To support 8 queued up responses

msg/EscEepromWrite.msg

@@ -0,0 +1,8 @@
+uint64 timestamp # [us] Time since system start
+uint8 firmware # [-] ESC firmware type (see ESC_FIRMWARE enum in MAVLink)
+uint8 index # [-]Index of the ESC (0 = ESC1, 1 = ESC2, etc, 255 = All)
+uint16 length # [-]Length of valid data
+uint8[64] data # [-]Raw ESC EEPROM data
+uint32[2] write_mask # [-] Bitmask indicating which bytes in the data array should be written (max 64 values)
+
+uint8 ORB_QUEUE_LENGTH = 8 # To support 8 queued up requests

msg/EscReport.msg

@@ -1,15 +1,16 @@
-uint64 timestamp					# time since system start (microseconds)
-uint32 esc_errorcount					# Number of reported errors by ESC - if supported
-int32 esc_rpm						# Motor RPM, negative for reverse rotation [RPM] - if supported
-float32 esc_voltage					# Voltage measured from current ESC [V] - if supported
-float32 esc_current					# Current measured from current ESC [A] - if supported
-float32 esc_temperature					# Temperature measured from current ESC [degC] - if supported
-uint8 esc_address					# Address of current ESC (in most cases 1-8 / must be set by driver)
-uint8 esc_cmdcount					# Counter of number of commands
+uint64 timestamp # [us] Time since system start
 
-uint8 esc_state					# State of ESC - depend on Vendor
+uint32 esc_errorcount # [-] Number of reported errors by ESC - if supported
+int32 esc_rpm # [rpm] Motor RPM, negative for reverse rotation - if supported
+float32 esc_voltage # [V] Voltage measured from current ESC - if supported
+float32 esc_current # [A] Current measured from current ESC - if supported
+float32 esc_temperature # [degC] Temperature measured from current ESC - if supported
+uint8 esc_address # [-] Address of current ESC (in most cases 1-8 / must be set by driver)
+uint8 esc_cmdcount # [-] Counter of number of commands
 
-uint8 actuator_function				# actuator output function (one of Motor1...MotorN)
+uint8 esc_state # [-] State of ESC - depend on Vendor
+
+uint8 actuator_function # [-] Actuator output function (one of Motor1...MotorN)
 
 uint8 ACTUATOR_FUNCTION_MOTOR1 = 101
 uint8 ACTUATOR_FUNCTION_MOTOR2 = 102
@@ -24,17 +25,17 @@ uint8 ACTUATOR_FUNCTION_MOTOR10 = 110
 uint8 ACTUATOR_FUNCTION_MOTOR11 = 111
 uint8 ACTUATOR_FUNCTION_MOTOR12 = 112
 
-uint16 failures					# Bitmask to indicate the internal ESC faults
-int8 esc_power					# Applied power 0-100 in % (negative values reserved)
+uint16 failures # [@enum FAILURE] Bitmask to indicate the internal ESC faults
+int8 esc_power # [%] [@range 0,100] Applied power (negative values reserved)
 
-uint8 FAILURE_OVER_CURRENT = 0 			# (1 << 0)
-uint8 FAILURE_OVER_VOLTAGE = 1 			# (1 << 1)
-uint8 FAILURE_MOTOR_OVER_TEMPERATURE = 2 	# (1 << 2)
-uint8 FAILURE_OVER_RPM = 3			# (1 << 3)
-uint8 FAILURE_INCONSISTENT_CMD = 4 		# (1 << 4)  Set if ESC received an inconsistent command (i.e out of boundaries)
-uint8 FAILURE_MOTOR_STUCK = 5			# (1 << 5)
-uint8 FAILURE_GENERIC = 6			# (1 << 6)
-uint8 FAILURE_MOTOR_WARN_TEMPERATURE = 7	# (1 << 7)
-uint8 FAILURE_WARN_ESC_TEMPERATURE = 8		# (1 << 8)
-uint8 FAILURE_OVER_ESC_TEMPERATURE = 9		# (1 << 9)
-uint8 ESC_FAILURE_COUNT = 10 			# Counter - keep it as last element!
+uint8 FAILURE_OVER_CURRENT = 0 # (1 << 0)
+uint8 FAILURE_OVER_VOLTAGE = 1 # (1 << 1)
+uint8 FAILURE_MOTOR_OVER_TEMPERATURE = 2 # (1 << 2)
+uint8 FAILURE_OVER_RPM = 3 # (1 << 3)
+uint8 FAILURE_INCONSISTENT_CMD = 4 # (1 << 4) Set if ESC received an inconsistent command (i.e out of boundaries)
+uint8 FAILURE_MOTOR_STUCK = 5 # (1 << 5)
+uint8 FAILURE_GENERIC = 6 # (1 << 6)
+uint8 FAILURE_MOTOR_WARN_TEMPERATURE = 7 # (1 << 7)
+uint8 FAILURE_WARN_ESC_TEMPERATURE = 8 # (1 << 8)
+uint8 FAILURE_OVER_ESC_TEMPERATURE = 9 # (1 << 9)
+uint8 ESC_FAILURE_COUNT = 10 # Counter - keep it as last element!

msg/EscStatus.msg

@@ -1,28 +1,32 @@
-uint64 timestamp					# time since system start (microseconds)
-uint8 CONNECTED_ESC_MAX = 8				# The number of ESCs supported. Current (Q2/2013) we support 8 ESCs
+uint64 timestamp # [us] Time since system start
+uint8 CONNECTED_ESC_MAX = 12 # The number of ESCs supported (Motor1-Motor12)
 
-uint8 ESC_CONNECTION_TYPE_PPM = 0			# Traditional PPM ESC
-uint8 ESC_CONNECTION_TYPE_SERIAL = 1			# Serial Bus connected ESC
-uint8 ESC_CONNECTION_TYPE_ONESHOT = 2			# One Shot PPM
-uint8 ESC_CONNECTION_TYPE_I2C = 3			# I2C
-uint8 ESC_CONNECTION_TYPE_CAN = 4			# CAN-Bus
-uint8 ESC_CONNECTION_TYPE_DSHOT = 5			# DShot
+uint8 ESC_CONNECTION_TYPE_PPM = 0 # Traditional PPM ESC
+uint8 ESC_CONNECTION_TYPE_SERIAL = 1 # Serial Bus connected ESC
+uint8 ESC_CONNECTION_TYPE_ONESHOT = 2 # One Shot PPM
+uint8 ESC_CONNECTION_TYPE_I2C = 3 # I2C
+uint8 ESC_CONNECTION_TYPE_CAN = 4 # CAN-Bus
+uint8 ESC_CONNECTION_TYPE_DSHOT = 5 # DShot
 
-uint16 counter  					# incremented by the writing thread everytime new data is stored
+uint16 counter # [-] Incremented by the writing thread everytime new data is stored
 
-uint8 esc_count						# number of connected ESCs
-uint8 esc_connectiontype				# how ESCs connected to the system
+uint8 esc_count # [-] Number of connected ESCs
+uint8 esc_connectiontype # [@enum ESC_CONNECTION_TYPE] How ESCs connected to the system
 
-uint8 esc_online_flags					# Bitmask indicating which ESC is online/offline
-# esc_online_flags bit 0 : Set to 1 if ESC0 is online
-# esc_online_flags bit 1 : Set to 1 if ESC1 is online
-# esc_online_flags bit 2 : Set to 1 if ESC2 is online
-# esc_online_flags bit 3 : Set to 1 if ESC3 is online
-# esc_online_flags bit 4 : Set to 1 if ESC4 is online
-# esc_online_flags bit 5 : Set to 1 if ESC5 is online
-# esc_online_flags bit 6 : Set to 1 if ESC6 is online
-# esc_online_flags bit 7 : Set to 1 if ESC7 is online
+uint16 esc_online_flags               # Bitmask indicating which ESC is online/offline (in motor order)
+# esc_online_flags bit 0 : Set to 1 if Motor1 is online
+# esc_online_flags bit 1 : Set to 1 if Motor2 is online
+# esc_online_flags bit 2 : Set to 1 if Motor3 is online
+# esc_online_flags bit 3 : Set to 1 if Motor4 is online
+# esc_online_flags bit 4 : Set to 1 if Motor5 is online
+# esc_online_flags bit 5 : Set to 1 if Motor6 is online
+# esc_online_flags bit 6 : Set to 1 if Motor7 is online
+# esc_online_flags bit 7 : Set to 1 if Motor8 is online
+# esc_online_flags bit 8 : Set to 1 if Motor9 is online
+# esc_online_flags bit 9 : Set to 1 if Motor10 is online
+# esc_online_flags bit 10: Set to 1 if Motor11 is online
+# esc_online_flags bit 11: Set to 1 if Motor12 is online
 
-uint8 esc_armed_flags					# Bitmask indicating which ESC is armed. For ESC's where the arming state is not known (returned by the ESC), the arming bits should always be set.
+uint16 esc_armed_flags # [-] Bitmask indicating which ESC is armed (in motor order)
 
-EscReport[8] esc
+EscReport[12] esc

msg/versioned/ActuatorMotors.msg

@@ -10,7 +10,8 @@ uint64 timestamp_sample  # [us] Sampling timestamp of the data this control resp
 
 uint16 reversible_flags  # [-] Bitset indicating which motors are configured to be reversible
 
-uint8 ACTUATOR_FUNCTION_MOTOR1 = 101 #
+uint8 ACTUATOR_FUNCTION_MOTOR1 = 101
+uint8 ACTUATOR_FUNCTION_MOTOR12 = 112
 
 uint8 NUM_CONTROLS = 12  #
 float32[12] control      # [@range -1, 1] Normalized thrust. where 1 means maximum positive thrust, -1 maximum negative (if not supported by the output, <0 maps to NaN). NaN maps to disarmed (stop the motors)

msg/versioned/VehicleCommand.msg

@@ -80,6 +80,7 @@ uint16 VEHICLE_CMD_GIMBAL_DEVICE_INFORMATION = 283 # Command to ask information
 uint16 VEHICLE_CMD_MISSION_START = 300 # Start running a mission. |first_item: the first mission item to run|last_item: the last mission item to run (after this item is run, the mission ends)|
 uint16 VEHICLE_CMD_ACTUATOR_TEST = 310 # Actuator testing command. |[@range -1,1] value|[s] timeout|Unused|Unused|output function|
 uint16 VEHICLE_CMD_CONFIGURE_ACTUATOR = 311 # Actuator configuration command. |configuration|Unused|Unused|Unused|output function|
+uint16 VEHICLE_CMD_ESC_REQUEST_EEPROM = 312 # Request EEPROM data from an ESC. |ESC index|Firmware type (ESC_FIRMWARE enum)|Unused|Unused||Unused|Unused|
 uint16 VEHICLE_CMD_COMPONENT_ARM_DISARM = 400 # Arms / Disarms a component. |1 to arm, 0 to disarm.
 uint16 VEHICLE_CMD_RUN_PREARM_CHECKS = 401 # Instructs a target system to run pre-arm checks.
 uint16 VEHICLE_CMD_INJECT_FAILURE = 420 # Inject artificial failure for testing purposes.
@@ -129,6 +130,13 @@ uint8 VEHICLE_ROI_LOCATION = 3 # Point toward fixed location.
 uint8 VEHICLE_ROI_TARGET = 4 # Point toward target.
 uint8 VEHICLE_ROI_ENUM_END = 5
 
+uint8 ACTUATOR_CONFIGURATION_NONE = 0 # Do nothing.
+uint8 ACTUATOR_CONFIGURATION_BEEP = 1 # Command the actuator to beep now.
+uint8 ACTUATOR_CONFIGURATION_3D_MODE_ON = 2 # Permanently set the actuator (ESC) to 3D mode (reversible thrust).
+uint8 ACTUATOR_CONFIGURATION_3D_MODE_OFF = 3 # Permanently set the actuator (ESC) to non 3D mode (non-reversible thrust).
+uint8 ACTUATOR_CONFIGURATION_SPIN_DIRECTION1 = 4 # Permanently set the actuator (ESC) to spin direction 1 (which can be clockwise or counter-clockwise).
+uint8 ACTUATOR_CONFIGURATION_SPIN_DIRECTION2 = 5 # Permanently set the actuator (ESC) to spin direction 2 (opposite of direction 1).
+
 uint8 PARACHUTE_ACTION_DISABLE = 0
 uint8 PARACHUTE_ACTION_ENABLE = 1
 uint8 PARACHUTE_ACTION_RELEASE = 2

platforms/nuttx/src/px4/nxp/imxrt/dshot/dshot.c

@@ -321,8 +321,10 @@ static int flexio_irq_handler(int irq, void *context, void *arg)
 }
 
 
-int up_dshot_init(uint32_t channel_mask, unsigned dshot_pwm_freq, bool enable_bidirectional_dshot)
+int up_dshot_init(uint32_t channel_mask, uint32_t bdshot_channel_mask, unsigned dshot_pwm_freq, bool edt_enable)
 {
+	(void)edt_enable; // Not implemented
+
 	/* Calculate dshot timings based on dshot_pwm_freq */
 	dshot_tcmp = 0x2F00 | (((BOARD_FLEXIO_PREQ / (dshot_pwm_freq * 3) / 2) - 1) & 0xFF);
 	dshot_speed = dshot_pwm_freq;
@@ -360,7 +362,7 @@ int up_dshot_init(uint32_t channel_mask, unsigned dshot_pwm_freq, bool enable_bi
 
 			imxrt_config_gpio(timer_io_channels[channel].dshot.pinmux | IOMUX_PULL_UP);
 
-			if (enable_bidirectional_dshot) {
+			if (bdshot_channel_mask & (1 << channel)) {
 				dshot_inst[channel].bdshot = true;
 				dshot_inst[channel].bdshot_training_mask = 0;
 				dshot_inst[channel].bdshot_tcmp_offset = BDSHOT_TCMP_MIN_OFFSET;
@@ -497,22 +499,12 @@ void up_bdshot_erpm(void)
 }
 
 
-int up_bdshot_num_erpm_ready(void)
-{
-	int num_ready = 0;
-
-	for (unsigned i = 0; i < DSHOT_TIMERS; ++i) {
-		// We only check that data has been received, rather than if it's valid.
-		// This ensures data is published even if one channel has bit errors.
-		if (bdshot_parsed_recv_mask & (1 << i)) {
-			++num_ready;
-		}
-	}
 
-	return num_ready;
+int up_bdshot_num_errors(uint8_t channel)
+{
+	return dshot_inst[channel].crc_error_cnt + dshot_inst[channel].frame_error_cnt + dshot_inst[channel].no_response_cnt;
 }
 
-
 int up_bdshot_get_erpm(uint8_t channel, int *erpm)
 {
 	if (bdshot_parsed_recv_mask & (1 << channel)) {
@@ -523,7 +515,22 @@ int up_bdshot_get_erpm(uint8_t channel, int *erpm)
 	return -1;
 }
 
-int up_bdshot_channel_status(uint8_t channel)
+int up_bdshot_get_extended_telemetry(uint8_t channel, int type, uint8_t *value)
+{
+	// NOT IMPLEMENTED
+	return -1;
+}
+
+int up_bdshot_channel_capture_supported(uint8_t channel)
+{
+	if (channel >= DSHOT_TIMERS) {
+		return 0;
+	}
+
+	return dshot_inst[channel].init && dshot_inst[channel].bdshot;
+}
+
+int up_bdshot_channel_online(uint8_t channel)
 {
 	if (channel < DSHOT_TIMERS) {
 		return ((dshot_inst[channel].no_response_cnt - dshot_inst[channel].last_no_response_cnt) < BDSHOT_OFFLINE_COUNT);
@@ -538,7 +545,7 @@ void up_bdshot_status(void)
 	for (uint8_t channel = 0; (channel < DSHOT_TIMERS); channel++) {
 
 		if (dshot_inst[channel].init) {
-			PX4_INFO("Channel %i %s Last erpm %i value", channel, up_bdshot_channel_status(channel) ? "online" : "offline",
+			PX4_INFO("Channel %i %s Last erpm %i value", channel, up_bdshot_channel_online(channel) ? "online" : "offline",
 				 dshot_inst[channel].erpm);
 			PX4_INFO("BDSHOT Training done: %s TCMP offset: %d", dshot_inst[channel].bdshot_training_done ? "YES" : "NO",
 				 dshot_inst[channel].bdshot_tcmp_offset);
@@ -601,7 +608,7 @@ uint64_t dshot_expand_data(uint16_t packet)
 * bit 	12		- dshot telemetry enable/disable
 * bits 	13-16	- XOR checksum
 **/
-void dshot_motor_data_set(unsigned channel, uint16_t throttle, bool telemetry)
+void dshot_motor_data_set(uint8_t channel, uint16_t throttle, bool telemetry)
 {
 	if (channel < DSHOT_TIMERS && dshot_inst[channel].init) {
 		uint16_t csum_data;