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Merge pull request #1376 from blckmn/msp_update_dshot 

Added check on motor being enabled in MSP output to ensure only motor…
This commit is contained in:
Martin Budden 2016-10-23 08:09:44 +01:00 committed by GitHub
parent 82730f0e26 8015120866
commit bba49fe378
1 changed files with 6 additions and 2 deletions
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8
src/main/fc/fc_msp.c
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@ -649,10 +649,14 @@ static bool mspFcProcessOutCommand(uint8_t cmdMSP, sbuf_t *dst, mspPostProcessFn
#endif
case MSP_MOTOR:
for (unsigned i = 0; i < 8; i++) {
if (i >= MAX_SUPPORTED_MOTORS || !pwmGetMotors()[i].enabled) {
sbufWriteU16(dst, 0);
continue;
}
if (masterConfig.motorConfig.motorPwmProtocol == PWM_TYPE_DSHOT150 || masterConfig.motorConfig.motorPwmProtocol == PWM_TYPE_DSHOT600)
sbufWriteU16(dst, i < MAX_SUPPORTED_MOTORS ? constrain((motor[i] / 2) + 1000, 1000, 2000) : 0); // This is to get it working in the configurator
sbufWriteU16(dst, constrain((motor[i] / 2) + 1000, 1000, 2000)); // This is to get it working in the configurator
else
sbufWriteU16(dst, i < MAX_SUPPORTED_MOTORS ? motor[i] : 0);
sbufWriteU16(dst, motor[i]);
}
break;
case MSP_RC: