From aa9e8bdbde1889b7b966125a331feb909615f152 Mon Sep 17 00:00:00 2001
From: Nicola De Pasquale <ndp7c7c0@gmail.com>
Date: Thu, 26 Mar 2020 17:17:22 +0100
Subject: [PATCH] change pidloop constraint when dshot bidir is enabled

---
 src/main/config/config.c | 3 +++
 1 file changed, 3 insertions(+)

diff --git a/src/main/config/config.c b/src/main/config/config.c
index 83dcc7ce9..d4f7ab412 100644
--- a/src/main/config/config.c
+++ b/src/main/config/config.c
@@ -657,6 +657,9 @@ void validateAndFixGyroConfig(void)
             }
         } else {
             const float pidLooptime = samplingTime * pidConfig()->pid_process_denom;
+            if (motorConfig()->dev.useDshotTelemetry) {
+                motorUpdateRestriction *= 2;
+            }
             if (pidLooptime < motorUpdateRestriction) {
                 uint8_t minPidProcessDenom = motorUpdateRestriction / samplingTime;
                 if (motorUpdateRestriction / samplingTime > minPidProcessDenom) {