From f9cdf2da84425da04798dbe4850422fb68b57933 Mon Sep 17 00:00:00 2001
From: Andy Piper <github@andypiper.com>
Date: Fri, 7 Jun 2024 16:36:08 +0100
Subject: [PATCH] AP_HAL_ChibiOS: allow forcing of trigger_groups()

---
 libraries/AP_HAL_ChibiOS/RCOutput.cpp | 3 ++-
 libraries/AP_HAL_ChibiOS/RCOutput.h   | 7 +++++++
 2 files changed, 9 insertions(+), 1 deletion(-)

diff --git a/libraries/AP_HAL_ChibiOS/RCOutput.cpp b/libraries/AP_HAL_ChibiOS/RCOutput.cpp
index 688b9e03c2b024..9c73735d05b651 100644
--- a/libraries/AP_HAL_ChibiOS/RCOutput.cpp
+++ b/libraries/AP_HAL_ChibiOS/RCOutput.cpp
@@ -1389,7 +1389,8 @@ void RCOutput::trigger_groups()
     osalSysUnlock();
 #if !defined(HAL_NO_RCOUT_THREAD) || HAL_DSHOT_ENABLED
     // trigger a PWM send
-    if (!in_soft_serial() && hal.scheduler->in_main_thread() && rcout_thread_ctx) {
+    if (!in_soft_serial() &&
+        (hal.scheduler->in_main_thread() || force_trigger) && rcout_thread_ctx) {
         chEvtSignal(rcout_thread_ctx, EVT_PWM_SEND);
     }
 #endif
diff --git a/libraries/AP_HAL_ChibiOS/RCOutput.h b/libraries/AP_HAL_ChibiOS/RCOutput.h
index 87aa9948dbd9ca..a935de7f458741 100644
--- a/libraries/AP_HAL_ChibiOS/RCOutput.h
+++ b/libraries/AP_HAL_ChibiOS/RCOutput.h
@@ -285,6 +285,11 @@ class ChibiOS::RCOutput : public AP_HAL::RCOutput
      */
     void rcout_thread();
 
+    /*
+      Force group trigger from all callers rather than just from the main thread
+    */
+    void force_trigger_groups(bool onoff) override { force_trigger = onoff; }
+
     /*
      timer information
      */
@@ -579,6 +584,8 @@ class ChibiOS::RCOutput : public AP_HAL::RCOutput
     uint8_t _dshot_cycle;
     // virtual timer for post-push() pulses
     virtual_timer_t _dshot_rate_timer;
+    // force triggering of groups
+    bool force_trigger;
 
 #if HAL_DSHOT_ENABLED
     // dshot commands