From 129eb4c184a9c14c5673911e8a30666b414dfc2f Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Wed, 1 Sep 2021 09:04:17 +1000
Subject: [PATCH] AP_HAL_SITL: do not overwrite FETTecESC telemetry data w/SITL
 ESC data

---
 libraries/AP_HAL_SITL/RCOutput.cpp | 8 ++++++++
 1 file changed, 8 insertions(+)

diff --git a/libraries/AP_HAL_SITL/RCOutput.cpp b/libraries/AP_HAL_SITL/RCOutput.cpp
index 7f32337c84795..b1df8706a14ac 100644
--- a/libraries/AP_HAL_SITL/RCOutput.cpp
+++ b/libraries/AP_HAL_SITL/RCOutput.cpp
@@ -85,6 +85,14 @@ void RCOutput::push(void)
         memcpy(_sitlState->pwm_output, _pending, SITL_NUM_CHANNELS * sizeof(uint16_t));
         _corked = false;
     }
+
+    // do not overwrite FETTec simulation's ESC telemetry data:
+    SITL::SIM *sitl = AP::sitl();
+    if (sitl != nullptr &&
+        sitl->fetteconewireesc_sim.enabled()) {
+        return;
+    }
+
     if (esc_telem == nullptr) {
         esc_telem = new AP_ESC_Telem_SITL;
     }