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Fix non DSHOT protocols

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This commit is contained in:
Hans Christian Olaussen 2022-02-21 00:11:26 +01:00
parent 7b4415f062
commit 13cb7b4280
2 changed files with 3 additions and 6 deletions
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8
src/main/flight/mixer_init.c
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@ -306,12 +306,8 @@ void mixerInitProfile(void)
mixerRuntime.dynIdleDGain = currentPidProfile->dyn_idle_d_gain * 0.0000003f * pidGetPidFrequency(); mixerRuntime.dynIdleDGain = currentPidProfile->dyn_idle_d_gain * 0.0000003f * pidGetPidFrequency();
mixerRuntime.dynIdleMaxIncrease = currentPidProfile->dyn_idle_max_increase * 0.001f; mixerRuntime.dynIdleMaxIncrease = currentPidProfile->dyn_idle_max_increase * 0.001f;
mixerRuntime.minRpsDelayK = 800 * pidGetDT() / 20.0f; //approx 20ms D delay, arbitrarily suits many motors mixerRuntime.minRpsDelayK = 800 * pidGetDT() / 20.0f; //approx 20ms D delay, arbitrarily suits many motors
if (!mixerRuntime.feature3dEnabled ) { if (!mixerRuntime.feature3dEnabled && mixerRuntime.dynIdleMinRps) {
if (mixerRuntime.dynIdleMinRps) { mixerRuntime.motorOutputLow = DSHOT_MIN_THROTTLE; // Override value set by initEscEndpoints to allow zero motor drive
mixerRuntime.motorOutputLow = DSHOT_MIN_THROTTLE;
} else {
mixerRuntime.motorOutputLow = DSHOT_MIN_THROTTLE + mixerRuntime.idleThrottleOffset * DSHOT_RANGE;
}
} }
#endif #endif

1
src/main/msp/msp.c
View file

@ -3030,6 +3030,7 @@ static mspResult_e mspProcessInCommand(mspDescriptor_t srcDesc, int16_t cmdMSP,
#endif #endif
} }
pidInitConfig(currentPidProfile); pidInitConfig(currentPidProfile);
initEscEndpoints();
mixerInitProfile(); mixerInitProfile();
break; break;