Merge pull request #1584 from atomiclama/master-bf

Fixed a problem when the motor count for motorInit came from custom mixer

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;

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;

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];
@@ -305,8 +304,6 @@ 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++) {
@@ -358,8 +355,6 @@ 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++) {
@@ -384,9 +379,7 @@ void writeMotors(void)
         pwmWriteMotor(i, motor[i]);
     }
 
-    if (syncMotorOutputWithPidLoop) {
-        pwmCompleteMotorUpdate(motorCount);
-    }
+    pwmCompleteMotorUpdate(motorCount);
 }
 
 static void writeAllMotors(int16_t mc)

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];

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