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Fixed motor value translation to / from MSP for DShot.

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Fixed 'stopMotors' (used in 'HardfaultHandler' to actually stop motors with DShot. Also made 'disarmMotorOutput' used consistently.

Renamed functions to be more clear.
This commit is contained in:
Michael Keller 2016-10-25 12:55:31 +13:00
parent f804f1e272
commit 0a4648c03e
6 changed files with 64 additions and 23 deletions
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11
src/main/fc/fc_msp.c
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@ -648,10 +648,8 @@ static bool mspFcProcessOutCommand(uint8_t cmdMSP, sbuf_t *dst, mspPostProcessFn
sbufWriteU16(dst, 0);
continue;
}
if (isMotorProtocolDshot())
sbufWriteU16(dst, constrain((motor[i] / 2) + 1000, 1000, 2000)); // This is to get it working in the configurator
else
sbufWriteU16(dst, motor[i]);
sbufWriteU16(dst, convertMotorToExternal(motor[i]));
}
break;
case MSP_RC:
@ -1320,8 +1318,9 @@ static mspResult_e mspFcProcessInCommand(uint8_t cmdMSP, sbuf_t *src)
masterConfig.batteryConfig.vbatwarningcellvoltage = sbufReadU8(src); // vbatlevel when buzzer starts to alert
break;
case MSP_SET_MOTOR:
for (i = 0; i < 8; i++) // FIXME should this use MAX_MOTORS or MAX_SUPPORTED_MOTORS instead of 8
motor_disarmed[i] = sbufReadU16(src);
for (i = 0; i < 8; i++) { // FIXME should this use MAX_MOTORS or MAX_SUPPORTED_MOTORS instead of 8
motor_disarmed[i] = convertExternalToMotor(sbufReadU16(src));
}
break;
case MSP_SET_SERVO_CONFIGURATION:
#ifdef USE_SERVOS