Fix Dshot range
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575460ac52
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5c2931e9ec
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@ -65,7 +65,7 @@ void dshotInitEndpoints(const motorConfig_t *motorConfig, float outputLimit, flo
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float dshotConvertFromExternal(uint16_t externalValue)
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{
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uint16_t motorValue;
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float motorValue;
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externalValue = constrain(externalValue, PWM_RANGE_MIN, PWM_RANGE_MAX);
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@ -73,15 +73,15 @@ float dshotConvertFromExternal(uint16_t externalValue)
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if (externalValue == PWM_RANGE_MIDDLE) {
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motorValue = DSHOT_CMD_MOTOR_STOP;
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} else if (externalValue < PWM_RANGE_MIDDLE) {
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motorValue = scaleRange(externalValue, PWM_RANGE_MIN, PWM_RANGE_MIDDLE - 1, DSHOT_3D_FORWARD_MIN_THROTTLE - 1, DSHOT_MIN_THROTTLE);
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motorValue = scaleRangef(externalValue, PWM_RANGE_MIN, PWM_RANGE_MIDDLE - 1, DSHOT_3D_FORWARD_MIN_THROTTLE - 1, DSHOT_MIN_THROTTLE);
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} else {
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motorValue = scaleRange(externalValue, PWM_RANGE_MIDDLE + 1, PWM_RANGE_MAX, DSHOT_3D_FORWARD_MIN_THROTTLE, DSHOT_MAX_THROTTLE);
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motorValue = scaleRangef(externalValue, PWM_RANGE_MIDDLE + 1, PWM_RANGE_MAX, DSHOT_3D_FORWARD_MIN_THROTTLE, DSHOT_MAX_THROTTLE);
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}
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} else {
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motorValue = (externalValue == PWM_RANGE_MIN) ? DSHOT_CMD_MOTOR_STOP : scaleRange(externalValue, PWM_RANGE_MIN + 1, PWM_RANGE_MAX, DSHOT_MIN_THROTTLE, DSHOT_MAX_THROTTLE);
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motorValue = (externalValue == PWM_RANGE_MIN) ? DSHOT_CMD_MOTOR_STOP : scaleRangef(externalValue, PWM_RANGE_MIN + 1, PWM_RANGE_MAX, DSHOT_MIN_THROTTLE, DSHOT_MAX_THROTTLE);
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}
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return (float)motorValue;
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return motorValue;
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}
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uint16_t dshotConvertToExternal(float motorValue)
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@ -92,12 +92,12 @@ uint16_t dshotConvertToExternal(float motorValue)
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if (motorValue == DSHOT_CMD_MOTOR_STOP || motorValue < DSHOT_MIN_THROTTLE) {
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externalValue = PWM_RANGE_MIDDLE;
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} else if (motorValue <= DSHOT_3D_FORWARD_MIN_THROTTLE - 1) {
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externalValue = scaleRange(motorValue, DSHOT_MIN_THROTTLE, DSHOT_3D_FORWARD_MIN_THROTTLE - 1, PWM_RANGE_MIDDLE - 1, PWM_RANGE_MIN);
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externalValue = scaleRangef(motorValue, DSHOT_MIN_THROTTLE, DSHOT_3D_FORWARD_MIN_THROTTLE - 1, PWM_RANGE_MIDDLE - 1, PWM_RANGE_MIN);
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} else {
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externalValue = scaleRange(motorValue, DSHOT_3D_FORWARD_MIN_THROTTLE, DSHOT_MAX_THROTTLE, PWM_RANGE_MIDDLE + 1, PWM_RANGE_MAX);
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externalValue = scaleRangef(motorValue, DSHOT_3D_FORWARD_MIN_THROTTLE, DSHOT_MAX_THROTTLE, PWM_RANGE_MIDDLE + 1, PWM_RANGE_MAX);
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}
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} else {
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externalValue = (motorValue < DSHOT_MIN_THROTTLE) ? PWM_RANGE_MIN : scaleRange(motorValue, DSHOT_MIN_THROTTLE, DSHOT_MAX_THROTTLE, PWM_RANGE_MIN + 1, PWM_RANGE_MAX);
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externalValue = (motorValue < DSHOT_MIN_THROTTLE) ? PWM_RANGE_MIN : scaleRangef(motorValue, DSHOT_MIN_THROTTLE, DSHOT_MAX_THROTTLE, PWM_RANGE_MIN + 1, PWM_RANGE_MAX);
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}
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return externalValue;
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