From cfef1e1135d0026e46fb7359528e84513f6fa933 Mon Sep 17 00:00:00 2001
From: lbullard-c2 <125946006+lbullard-c2@users.noreply.github.com>
Date: Fri, 25 Oct 2024 11:22:30 +1100
Subject: [PATCH] AP_PiccoloCAN: Allow ESCs to listen to fixed wing throttle
 channel

---
 libraries/AP_PiccoloCAN/AP_PiccoloCAN.cpp | 10 +++++++++-
 1 file changed, 9 insertions(+), 1 deletion(-)

diff --git a/libraries/AP_PiccoloCAN/AP_PiccoloCAN.cpp b/libraries/AP_PiccoloCAN/AP_PiccoloCAN.cpp
index 54c5453bfb0c0..fdf0355af964e 100644
--- a/libraries/AP_PiccoloCAN/AP_PiccoloCAN.cpp
+++ b/libraries/AP_PiccoloCAN/AP_PiccoloCAN.cpp
@@ -344,6 +344,14 @@ void AP_PiccoloCAN::update()
         if (is_esc_channel_active(ii)) {
 
             uint16_t output = 0;
+
+            if (SRV_Channels::channel_function(ii) == SRV_Channel::k_throttle) {
+                SRV_Channels::get_output_pwm(SRV_Channel::k_throttle, output);
+                _escs[ii].command = output;
+                _escs[ii].newCommand = true;
+                break;
+            }
+
             
             SRV_Channel::Aux_servo_function_t motor_function = SRV_Channels::get_motor_function(ii);
 
@@ -670,7 +678,7 @@ bool AP_PiccoloCAN::is_esc_channel_active(uint8_t chan)
     // Check if a motor function is assigned for this motor channel
     SRV_Channel::Aux_servo_function_t motor_function = SRV_Channels::get_motor_function(chan);
 
-    if (SRV_Channels::function_assigned(motor_function)) {
+    if (SRV_Channels::function_assigned(motor_function) || SRV_Channels::channel_function(chan) == SRV_Channel::k_throttle) {
         return true;
     }