ArduPilot/ardupilot

HAL_WITH_ESC_TELEM gates CPU-based spoolup check

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#33,399 opened on Jun 11, 2026

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good first issue

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Description

Bug Report

Issue details

The define cuts out the CPU-based spoolup blocking code where it shouldn't.

see takeoff_check.cpp

Version

master

Platform [ ] All [ ] AntennaTracker [x] Copter [ ] Plane [ ] Rover [ ] Submarine

Airframe type all except heli

Hardware type n/a

Logs n/a

Contributor guide

Research direction
Inspect the HAL WITH ESC TELEM define in takeoff check.cpp to understand how it incorrectly gates the CPU based spoolup blocking code. Check the preprocessor conditionals and locate where the spoolup check should be enabled.
Tech stack
cpp
Domain
backend
Issue type
Bug
DifficultyEstimated implementation difficulty for a new contributor, from 1 for very small changes to 5 for expert-level work.
2
Estimated timeA rough time range for an experienced contributor to investigate, implement, test, and prepare a pull request.
1-3 hours
Activity statusHow available the issue appears right now: fresh, active, stale, blocked, or waiting on maintainer input.
Fresh
ClarityHow clearly the issue explains the expected change, acceptance criteria, and next step.
Mostly clear
Prerequisites
C++embedded systemsArduPilot
Newbie friendlinessA 1-100 score estimating how approachable this issue is for first-time contributors.
50