1
0
Fork 0
mirror of https://github.com/betaflight/betaflight.git synced 2025-07-16 21:05:35 +03:00

Fix DSHOT off-by-one error preventing maximum throttle, closes #2879

This commit is contained in:
Larry Davis 2017-04-13 14:29:13 -07:00
parent 9ab02f1d38
commit 06dba20efc

View file

@ -644,13 +644,15 @@ uint16_t convertExternalToMotor(uint16_t externalValue)
uint16_t motorValue = externalValue;
#ifdef USE_DSHOT
if (isMotorProtocolDshot()) {
motorValue = externalValue <= EXTERNAL_CONVERSION_MIN_VALUE ? DSHOT_DISARM_COMMAND : constrain((externalValue - EXTERNAL_DSHOT_CONVERSION_OFFSET) * EXTERNAL_DSHOT_CONVERSION_FACTOR, DSHOT_MIN_THROTTLE, DSHOT_MAX_THROTTLE);
// Add 1 to the value, otherwise throttle tops out at 2046
motorValue = externalValue <= EXTERNAL_CONVERSION_MIN_VALUE ? DSHOT_DISARM_COMMAND : constrain((externalValue - EXTERNAL_DSHOT_CONVERSION_OFFSET) * EXTERNAL_DSHOT_CONVERSION_FACTOR + 1, DSHOT_MIN_THROTTLE, DSHOT_MAX_THROTTLE);
if (feature(FEATURE_3D)) {
if (externalValue == EXTERNAL_CONVERSION_3D_MID_VALUE) {
motorValue = DSHOT_DISARM_COMMAND;
} else if (motorValue >= DSHOT_MIN_THROTTLE && motorValue <= DSHOT_3D_DEADBAND_LOW) {
motorValue = DSHOT_MIN_THROTTLE + (DSHOT_3D_DEADBAND_LOW - motorValue);
// Add 1 to the value, otherwise throttle tops out at 2046
motorValue = DSHOT_MIN_THROTTLE + (DSHOT_3D_DEADBAND_LOW - motorValue) + 1;
}
}
}