From c68454798485b3167eb6c002adc5186ef4ef6f6a Mon Sep 17 00:00:00 2001
From: mikeller <github@ike.ch>
Date: Tue, 25 Dec 2018 00:55:26 +1300
Subject: [PATCH] Cleaned up Dshot defines.

---
 src/main/drivers/pwm_output.h | 2 ++
 src/main/flight/mixer.c       | 8 ++++----
 src/main/flight/mixer.h       | 3 ---
 3 files changed, 6 insertions(+), 7 deletions(-)

diff --git a/src/main/drivers/pwm_output.h b/src/main/drivers/pwm_output.h
index a1dbe30ee..7b42bdb9a 100644
--- a/src/main/drivers/pwm_output.h
+++ b/src/main/drivers/pwm_output.h
@@ -69,6 +69,8 @@ typedef enum {
     DSHOT_CMD_MAX = 47
 } dshotCommands_e;
 
+#define DSHOT_MIN_THROTTLE       48
+#define DSHOT_MAX_THROTTLE     2047
 
 typedef enum {
     PWM_TYPE_STANDARD = 0,
diff --git a/src/main/flight/mixer.c b/src/main/flight/mixer.c
index dc69a46ca..d7841d40e 100644
--- a/src/main/flight/mixer.c
+++ b/src/main/flight/mixer.c
@@ -375,7 +375,7 @@ void initEscEndpoints(void)
     case PWM_TYPE_DSHOT600:
     case PWM_TYPE_DSHOT300:
     case PWM_TYPE_DSHOT150:
-        disarmMotorOutput = DSHOT_DISARM_COMMAND;
+        disarmMotorOutput = DSHOT_CMD_MOTOR_STOP;
         if (featureIsEnabled(FEATURE_3D)) {
             motorOutputLow = DSHOT_MIN_THROTTLE + ((DSHOT_3D_FORWARD_MIN_THROTTLE - 1 - DSHOT_MIN_THROTTLE) / 100.0f) * CONVERT_PARAMETER_TO_PERCENT(motorConfig()->digitalIdleOffsetValue);
         } else {
@@ -941,14 +941,14 @@ float convertExternalToMotor(uint16_t externalValue)
 
         if (featureIsEnabled(FEATURE_3D)) {
             if (externalValue == PWM_RANGE_MID) {
-                motorValue = DSHOT_DISARM_COMMAND;
+                motorValue = DSHOT_CMD_MOTOR_STOP;
             } else if (externalValue < PWM_RANGE_MID) {
                 motorValue = scaleRange(externalValue, PWM_RANGE_MIN, PWM_RANGE_MID - 1, DSHOT_3D_FORWARD_MIN_THROTTLE - 1, DSHOT_MIN_THROTTLE);
             } else {
                 motorValue = scaleRange(externalValue, PWM_RANGE_MID + 1, PWM_RANGE_MAX, DSHOT_3D_FORWARD_MIN_THROTTLE, DSHOT_MAX_THROTTLE);
             }
         } else {
-            motorValue = (externalValue == PWM_RANGE_MIN) ? DSHOT_DISARM_COMMAND : scaleRange(externalValue, PWM_RANGE_MIN + 1, PWM_RANGE_MAX, DSHOT_MIN_THROTTLE, DSHOT_MAX_THROTTLE);
+            motorValue = (externalValue == PWM_RANGE_MIN) ? DSHOT_CMD_MOTOR_STOP : scaleRange(externalValue, PWM_RANGE_MIN + 1, PWM_RANGE_MAX, DSHOT_MIN_THROTTLE, DSHOT_MAX_THROTTLE);
         }
 
         break;
@@ -969,7 +969,7 @@ uint16_t convertMotorToExternal(float motorValue)
 #ifdef USE_DSHOT
     case true:
         if (featureIsEnabled(FEATURE_3D)) {
-            if (motorValue == DSHOT_DISARM_COMMAND || motorValue < DSHOT_MIN_THROTTLE) {
+            if (motorValue == DSHOT_CMD_MOTOR_STOP || motorValue < DSHOT_MIN_THROTTLE) {
                 externalValue = PWM_RANGE_MID;
             } else if (motorValue <= DSHOT_3D_FORWARD_MIN_THROTTLE - 1) {
                 externalValue = scaleRange(motorValue, DSHOT_MIN_THROTTLE, DSHOT_3D_FORWARD_MIN_THROTTLE - 1, PWM_RANGE_MID - 1, PWM_RANGE_MIN);
diff --git a/src/main/flight/mixer.h b/src/main/flight/mixer.h
index 566fd2c51..d0acff715 100644
--- a/src/main/flight/mixer.h
+++ b/src/main/flight/mixer.h
@@ -33,9 +33,6 @@
 #define BRUSHLESS_MOTORS_PWM_RATE 480
 
 // Digital protocol has fixed values
-#define DSHOT_DISARM_COMMAND      0
-#define DSHOT_MIN_THROTTLE       48
-#define DSHOT_MAX_THROTTLE     2047
 #define DSHOT_3D_FORWARD_MIN_THROTTLE 1048
 
 // Note: this is called MultiType/MULTITYPE_* in baseflight.