Remove duplication in motor enable/disable

src/main/drivers/pwm_output.c

@@ -169,9 +169,7 @@ static uint8_t loadDmaBufferProshot(motorDmaOutput_t *const motor, uint16_t pack
 
 void pwmWriteMotor(uint8_t index, float value)
 {
-    if (pwmMotorsEnabled) {
+    pwmWrite(index, value);
-        pwmWrite(index, value);
-    }
 }
 
 void pwmShutdownPulsesForAllMotors(uint8_t motorCount)

src/main/drivers/pwm_output.h

@@ -134,11 +134,11 @@ typedef void pwmCompleteWriteFunc(uint8_t motorCount);   // function pointer use
 typedef struct {
     volatile timCCR_t *ccr;
     TIM_TypeDef *tim;
+    float pulseScale;
+    float pulseOffset;
     bool forceOverflow;
     bool enabled;
     IO_t io;
-    float pulseScale;
-    float pulseOffset;
 } pwmOutputPort_t;
 
 typedef struct motorDevConfig_s {

src/main/fc/cli.c

@@ -2231,7 +2231,7 @@ static void cliDshotProg(char *cmdline)
 
                 break;
             default:
-                motorControlEnable = false;
+                pwmDisableMotors();
 
                 int command = atoi(pch);
                 if (command >= 0 && command < DSHOT_MIN_THROTTLE) {
@@ -2259,7 +2259,7 @@ static void cliDshotProg(char *cmdline)
         pch = strtok_r(NULL, " ", &saveptr);
     }
 
-    motorControlEnable = true;
+    pwmEnableMotors();
 }
 #endif
 

src/main/fc/fc_core.c

@@ -108,7 +108,6 @@ int16_t magHold;
 
 int16_t headFreeModeHold;
 
-uint8_t motorControlEnable = false;
 static bool reverseMotors = false;
 static uint32_t disarmAt;     // Time of automatic disarm when "Don't spin the motors when armed" is enabled and auto_disarm_delay is nonzero
 
@@ -627,9 +626,8 @@ static void subTaskMotorUpdate(void)
     }
 #endif
 
-    if (motorControlEnable) {
+    writeMotors();
-        writeMotors();
+
-    }
     DEBUG_SET(DEBUG_PIDLOOP, 3, micros() - startTime);
 }
 

src/main/fc/fc_core.h

@@ -27,8 +27,6 @@ extern int16_t magHold;
 extern bool isRXDataNew;
 extern int16_t headFreeModeHold;
 
-extern uint8_t motorControlEnable;
-
 typedef struct throttleCorrectionConfig_s {
     uint16_t throttle_correction_angle;     // the angle when the throttle correction is maximal. in 0.1 degres, ex 225 = 22.5 ,30.0, 450 = 45.0 deg
     uint8_t throttle_correction_value;      // the correction that will be applied at throttle_correction_angle.

src/main/fc/fc_init.c

@@ -137,8 +137,6 @@
 void targetPreInit(void);
 #endif
 
-extern uint8_t motorControlEnable;
-
 #ifdef SOFTSERIAL_LOOPBACK
 serialPort_t *loopbackPort;
 #endif
@@ -709,7 +707,7 @@ void init(void)
 
     // Latch active features AGAIN since some may be modified by init().
     latchActiveFeatures();
-    motorControlEnable = true;
+    pwmEnableMotors();
 
 #ifdef USE_OSD_SLAVE
     osdSlaveTasksInit();