From d4a81879d8f26eb708a11914048ce3680ef85524 Mon Sep 17 00:00:00 2001
From: atomiclama <atomiclama@somewhere.com>
Date: Thu, 17 Nov 2016 08:30:05 +0000
Subject: [PATCH] Fixed a problem when the motor count for motorInit came from
 a custom mixer table lookup which was 0.

1. took the motor count from the loading of the custom mixer table.
2. Moved the mixerconfig to before motorInit as motorInit needs the
motorCount.
3. removed pwmIsSynced checks as this was a order of init problem, and
not required as pwmCompleteMotorUpdate protects itself.
---
 src/main/drivers/pwm_output.c     |  5 -----
 src/main/drivers/pwm_output_hal.c |  5 -----
 src/main/flight/mixer.c           |  9 +--------
 src/main/flight/mixer.h           |  1 +
 src/main/main.c                   | 12 +++++++-----
 5 files changed, 9 insertions(+), 23 deletions(-)

diff --git a/src/main/drivers/pwm_output.c b/src/main/drivers/pwm_output.c
index 9c91588be..b960c3785 100644
--- a/src/main/drivers/pwm_output.c
+++ b/src/main/drivers/pwm_output.c
@@ -242,11 +242,6 @@ void motorInit(const motorConfig_t *motorConfig, uint16_t idlePulse, uint8_t mot
     }
 }
 
-bool pwmIsSynced(void)
-{
-    return pwmCompleteWritePtr != NULL;
-}
-
 pwmOutputPort_t *pwmGetMotors(void)
 {
     return motors;
diff --git a/src/main/drivers/pwm_output_hal.c b/src/main/drivers/pwm_output_hal.c
index bbf5a2d22..706b12264 100644
--- a/src/main/drivers/pwm_output_hal.c
+++ b/src/main/drivers/pwm_output_hal.c
@@ -253,11 +253,6 @@ void motorInit(const motorConfig_t *motorConfig, uint16_t idlePulse, uint8_t mot
     }
 }
 
-bool pwmIsSynced(void)
-{
-    return pwmCompleteWritePtr != NULL;
-}
-
 pwmOutputPort_t *pwmGetMotors(void)
 {
     return motors;
diff --git a/src/main/flight/mixer.c b/src/main/flight/mixer.c
index d80d010e4..8c7ba262e 100755
--- a/src/main/flight/mixer.c
+++ b/src/main/flight/mixer.c
@@ -65,7 +65,6 @@ static flight3DConfig_t *flight3DConfig;
 static motorConfig_t *motorConfig;
 static airplaneConfig_t *airplaneConfig;
 rxConfig_t *rxConfig;
-static bool syncMotorOutputWithPidLoop = false;
 
 mixerMode_e currentMixerMode;
 static motorMixer_t currentMixer[MAX_SUPPORTED_MOTORS];
@@ -301,8 +300,6 @@ void mixerConfigureOutput(void)
 
     motorCount = 0;
 
-    syncMotorOutputWithPidLoop = pwmIsSynced();
-
     if (currentMixerMode == MIXER_CUSTOM || currentMixerMode == MIXER_CUSTOM_TRI || currentMixerMode == MIXER_CUSTOM_AIRPLANE) {
         // load custom mixer into currentMixer
         for (i = 0; i < MAX_SUPPORTED_MOTORS; i++) {
@@ -354,8 +351,6 @@ void mixerLoadMix(int index, motorMixer_t *customMixers)
 #else
 void mixerConfigureOutput(void)
 {
-    syncMotorOutputWithPidLoop = pwmIsSynced();
-
     motorCount = QUAD_MOTOR_COUNT;
 
     for (uint8_t i = 0; i < motorCount; i++) {
@@ -380,9 +375,7 @@ void writeMotors(void)
         pwmWriteMotor(i, motor[i]);
     }
 
-    if (syncMotorOutputWithPidLoop) {
-        pwmCompleteMotorUpdate(motorCount);
-    }
+    pwmCompleteMotorUpdate(motorCount);
 }
 
 static void writeAllMotors(int16_t mc)
diff --git a/src/main/flight/mixer.h b/src/main/flight/mixer.h
index b329128b8..f0d41ca74 100644
--- a/src/main/flight/mixer.h
+++ b/src/main/flight/mixer.h
@@ -109,6 +109,7 @@ typedef struct airplaneConfig_s {
 
 #define CHANNEL_FORWARDING_DISABLED (uint8_t)0xFF
 
+extern uint8_t motorCount;
 extern const mixer_t mixers[];
 extern int16_t motor[MAX_SUPPORTED_MOTORS];
 extern int16_t motor_disarmed[MAX_SUPPORTED_MOTORS];
diff --git a/src/main/main.c b/src/main/main.c
index 8de12fca0..d00431401 100644
--- a/src/main/main.c
+++ b/src/main/main.c
@@ -263,10 +263,15 @@ void init(void)
         idlePulse = 0; // brushed motors
     }
 
+    mixerConfigureOutput();
+#ifdef USE_SERVOS
+    servoConfigureOutput();
+#endif
+
 #ifdef USE_QUAD_MIXER_ONLY
     motorInit(&masterConfig.motorConfig, idlePulse, QUAD_MOTOR_COUNT);
 #else
-    motorInit(&masterConfig.motorConfig, idlePulse, mixers[masterConfig.mixerMode].motorCount);
+    motorInit(&masterConfig.motorConfig, idlePulse, motorCount);
 #endif
 
 #ifdef USE_SERVOS
@@ -285,10 +290,7 @@ void init(void)
     pwmRxSetInputFilteringMode(masterConfig.inputFilteringMode);
 #endif
 
-    mixerConfigureOutput();
-#ifdef USE_SERVOS
-    servoConfigureOutput();
-#endif
+
     systemState |= SYSTEM_STATE_MOTORS_READY;
 
 #ifdef BEEPER