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Merge pull request #3135 from mikeller/fix_convert_motor_to_external 

Fixed inconsistency introduced by #2880.
This commit is contained in:
borisbstyle 2017-05-23 15:17:43 +02:00 committed by GitHub
parent 29917db6f2 8438697955
commit f4e4e45aa2
1 changed files with 4 additions and 2 deletions
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6
src/main/flight/mixer.c
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@ -676,10 +676,12 @@ uint16_t convertMotorToExternal(uint16_t motorValue)
#ifdef USE_DSHOT
if (isMotorProtocolDshot()) {
if (feature(FEATURE_3D) && motorValue >= DSHOT_MIN_THROTTLE && motorValue <= DSHOT_3D_DEADBAND_LOW) {
motorValue = DSHOT_MIN_THROTTLE + (DSHOT_3D_DEADBAND_LOW - motorValue);
// Subtract 1 to compensate for imbalance introduced in convertExternalToMotor()
motorValue = DSHOT_MIN_THROTTLE + (DSHOT_3D_DEADBAND_LOW - motorValue) - 1;
}
externalValue = motorValue < DSHOT_MIN_THROTTLE ? EXTERNAL_CONVERSION_MIN_VALUE : constrain((motorValue / EXTERNAL_DSHOT_CONVERSION_FACTOR) + EXTERNAL_DSHOT_CONVERSION_OFFSET, EXTERNAL_CONVERSION_MIN_VALUE + 1, EXTERNAL_CONVERSION_MAX_VALUE);
// Subtract 1 to compensate for imbalance introduced in convertExternalToMotor()
externalValue = motorValue < DSHOT_MIN_THROTTLE ? EXTERNAL_CONVERSION_MIN_VALUE : constrain(((motorValue - 1)/ EXTERNAL_DSHOT_CONVERSION_FACTOR) + EXTERNAL_DSHOT_CONVERSION_OFFSET, EXTERNAL_CONVERSION_MIN_VALUE + 1, EXTERNAL_CONVERSION_MAX_VALUE);
if (feature(FEATURE_3D) && motorValue == DSHOT_DISARM_COMMAND) {
externalValue = EXTERNAL_CONVERSION_3D_MID_VALUE;