Merge pull request #1376 from blckmn/msp_update_dshot
Added check on motor being enabled in MSP output to ensure only motor…
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bba49fe378
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@ -649,10 +649,14 @@ static bool mspFcProcessOutCommand(uint8_t cmdMSP, sbuf_t *dst, mspPostProcessFn
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#endif
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case MSP_MOTOR:
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for (unsigned i = 0; i < 8; i++) {
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if (i >= MAX_SUPPORTED_MOTORS || !pwmGetMotors()[i].enabled) {
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sbufWriteU16(dst, 0);
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continue;
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}
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if (masterConfig.motorConfig.motorPwmProtocol == PWM_TYPE_DSHOT150 || masterConfig.motorConfig.motorPwmProtocol == PWM_TYPE_DSHOT600)
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sbufWriteU16(dst, i < MAX_SUPPORTED_MOTORS ? constrain((motor[i] / 2) + 1000, 1000, 2000) : 0); // This is to get it working in the configurator
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sbufWriteU16(dst, constrain((motor[i] / 2) + 1000, 1000, 2000)); // This is to get it working in the configurator
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else
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sbufWriteU16(dst, i < MAX_SUPPORTED_MOTORS ? motor[i] : 0);
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sbufWriteU16(dst, motor[i]);
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}
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break;
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case MSP_RC:
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