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Merge pull request #2880 from lazd/issue/2879 

Fix configurator DSHOT off-by-one error preventing maximum throttle
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borisbstyle 2017-04-17 23:38:59 +02:00 committed by GitHub
parent 769f72a0a6 06dba20efc
commit 45acc4599b
1 changed files with 4 additions and 2 deletions
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6
src/main/flight/mixer.c
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@ -644,13 +644,15 @@ uint16_t convertExternalToMotor(uint16_t externalValue)
uint16_t motorValue = externalValue;
#ifdef USE_DSHOT
if (isMotorProtocolDshot()) {
motorValue = externalValue <= EXTERNAL_CONVERSION_MIN_VALUE ? DSHOT_DISARM_COMMAND : constrain((externalValue - EXTERNAL_DSHOT_CONVERSION_OFFSET) * EXTERNAL_DSHOT_CONVERSION_FACTOR, DSHOT_MIN_THROTTLE, DSHOT_MAX_THROTTLE);
// Add 1 to the value, otherwise throttle tops out at 2046
motorValue = externalValue <= EXTERNAL_CONVERSION_MIN_VALUE ? DSHOT_DISARM_COMMAND : constrain((externalValue - EXTERNAL_DSHOT_CONVERSION_OFFSET) * EXTERNAL_DSHOT_CONVERSION_FACTOR + 1, DSHOT_MIN_THROTTLE, DSHOT_MAX_THROTTLE);
if (feature(FEATURE_3D)) {
if (externalValue == EXTERNAL_CONVERSION_3D_MID_VALUE) {
motorValue = DSHOT_DISARM_COMMAND;
} else if (motorValue >= DSHOT_MIN_THROTTLE && motorValue <= DSHOT_3D_DEADBAND_LOW) {
motorValue = DSHOT_MIN_THROTTLE + (DSHOT_3D_DEADBAND_LOW - motorValue);
// Add 1 to the value, otherwise throttle tops out at 2046
motorValue = DSHOT_MIN_THROTTLE + (DSHOT_3D_DEADBAND_LOW - motorValue) + 1;
}
}
}