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telemetry: guard CRSF ESC RPM/temp against stale data #11536

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telemetry: guard CRSF ESC RPM/temp against stale data #11536

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6bb359f
telemetry: guard CRSF ESC RPM/temp against stale data
sensei-hacker May 4, 2026
b41c028
telemetry: use ESC_DATA_MAX_AGE threshold for CRSF staleness
sensei-hacker May 4, 2026
76a6748
telemetry: use getTelemetryMotorCount() for CRSF ESC frames
sensei-hacker May 4, 2026
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2 changes: 1 addition & 1 deletion src/main/sensors/esc_sensor.c
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Original file line number Diff line number Diff line change
Expand Up @@ -84,7 +84,7 @@ PG_RESET_TEMPLATE(escSensorConfig_t, escSensorConfig,
.listenOnly = SETTING_ESC_SENSOR_LISTEN_ONLY_DEFAULT,
);

static int getTelemetryMotorCount(void)
int getTelemetryMotorCount(void)
{
if (escSensorConfig()->listenOnly) {
return 1;
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1 change: 1 addition & 0 deletions src/main/sensors/esc_sensor.h
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Expand Up @@ -48,3 +48,4 @@ void escSensorUpdate(timeUs_t currentTimeUs);
escSensorData_t * escSensorGetData(void);
escSensorData_t * getEscTelemetry(uint8_t esc);
uint32_t computeRpm(int16_t erpm);
int getTelemetryMotorCount(void);
8 changes: 4 additions & 4 deletions src/main/telemetry/crsf.c
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Expand Up @@ -335,7 +335,7 @@ int24_t rpm_value[]; // 1 - 19 RPM values with negative ones representing
static bool crsfRpm(sbuf_t *dst)
{
const uint8_t MAX_CRSF_RPM_VALUES = 19; // CRSF protocol limit: 1-19 RPM values
uint8_t motorCount = getMotorCount();
uint8_t motorCount = getTelemetryMotorCount();

if (STATE(ESC_SENSOR_ENABLED) && motorCount > 0) {
// Enforce protocol limit
Expand All @@ -350,7 +350,7 @@ static bool crsfRpm(sbuf_t *dst)

for (uint8_t i = 0; i < motorCount; i++) {
const escSensorData_t *escState = getEscTelemetry(i);
crsfSerialize24(dst, (escState) ? escState->rpm : 0);
crsfSerialize24(dst, escState->dataAge <= ESC_DATA_MAX_AGE ? escState->rpm : 0);
}
return true;
}
Expand All @@ -371,11 +371,11 @@ static bool crsfTemperature(sbuf_t *dst)
int16_t temperatures[20];

#ifdef USE_ESC_SENSOR
uint8_t motorCount = getMotorCount();
uint8_t motorCount = getTelemetryMotorCount();
if (STATE(ESC_SENSOR_ENABLED) && motorCount > 0) {
for (uint8_t i = 0; i < motorCount && tempCount < MAX_CRSF_TEMPS; i++) {
const escSensorData_t *escState = getEscTelemetry(i);
temperatures[tempCount++] = (escState) ? escState->temperature * 10 : TEMPERATURE_INVALID_VALUE;
temperatures[tempCount++] = escState->dataAge <= ESC_DATA_MAX_AGE ? (int16_t)(escState->temperature * 10) : TEMPERATURE_INVALID_VALUE;
}
}
#endif
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